scds_pso.h

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#ifndef SCDS_PSO_H_
#define SCDS_PSO_H_

#include <iostream>
#include <fstream>
#include <vector>
#include <set>
#include <boost/function.hpp>
#include <ros/ros.h>

#include "micros_swarm/scds_pso_tuple.h"

namespace micros_swarm{

    class Agent{
        public:
            Agent();
            Agent(std::string name);
            ~Agent();
            void set_param(float w, float c1, float c2);
            void set_dim(int dim);
            void set_fitness(const boost::function<float(const std::vector<float>& )>& fitness);
            void set_min_pos(const std::vector<float>& pos);
            void set_max_pos(const std::vector<float>& pos);
            void set_min_vel(const std::vector<float>& pos);
            void set_max_vel(const std::vector<float>& pos);
            void init_pos(const std::vector<float>& pos);
            void init_vel(const std::vector<float>& vel);
            void rand_init();
            void start();
            void start(int loop_gen);
            void stop();
        private:
            bool has_pos_limit(int index);
            bool has_vel_limit(int index);

            void loop(const ros::TimerEvent&);

            std::string name_;
            bool run_;
            int dim_;
            float w_;
            float c1_;
            float c2_;
            boost::function<float(const std::vector<float>& )> fitness_;
            std::vector<float> min_pos_;
            std::vector<float> max_pos_;
            std::vector<float> min_vel_;
            std::vector<float> max_vel_;
            std::vector<float> cur_pos_;
            std::vector<float> cur_vel_;
            int cur_gen_;
            int gen_limit_;
            SCDSPSODataTuple pbest_;
            SCDSPSODataTuple gbest_;
            SCDSPSOTuple best_tuple_;

            int robot_id_;
            boost::shared_ptr<RuntimeHandle> rth_;

            ros::NodeHandle nh_;
            ros::Timer timer_;

            std::ofstream file;
    };
};

#endif