Cyclic_Agent.cpp

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2014, ISR University of Coimbra.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the ISR University of Coimbra nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
* Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
*********************************************************************/

#include <sstream>
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>

#include "PatrolAgent.h"
#include "algorithms.h"

class Cyclic_Agent: public PatrolAgent {
private:
    int *path;
    int path_elements;
    int i_vertex;
public:
    virtual void init(int argc, char** argv);
    virtual int compute_next_vertex();
    //virtual void send_results();
    //virtual void receive_results();    
};

void Cyclic_Agent::init(int argc, char** argv) {
    
    PatrolAgent::init(argc,argv);
    
    //robot's cyclic path:
    path = new int[8*dimension];
  
    //get cyclic path:
    path_elements = cyclic(dimension, vertex_web, path);
    
    //Shift the cyclic path to start at the current vertex:
    shift_cyclic_path (current_vertex, path, path_elements);
    
    printf("\nFinal Path: ");
    for(int i=0; i<path_elements; i++){
        if(i==path_elements-1){ printf("%i\n", path[i]); }else{ printf("%i, ", path[i]); }
    }
    printf("Number of elements = %i\n", path_elements);
    i_vertex=0;
    // if (path_elements>1) { i_vertex=1; next_vertex = path[i_vertex]; }
    
}

int Cyclic_Agent::compute_next_vertex() {
    i_vertex++;
    if ( i_vertex>=path_elements ){ i_vertex=1;}
    return path[i_vertex];    
}

#if 0
// FIXME DONE
void Cyclic_Agent::send_results() {
  ros::spinOnce();   
}

// FIXME DONE
void Cyclic_Agent::receive_results() {
  ros::spinOnce();   
}
#endif


int main(int argc, char** argv) {
  
    Cyclic_Agent agent;
    agent.init(argc,argv);
    agent.run();

    return 0; 
}