Cyclic_Agent.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2014, ISR University of Coimbra.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the ISR University of Coimbra nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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00035 * Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
00036 *********************************************************************/
00037 
00038 #include <sstream>
00039 #include <ros/ros.h>
00040 #include <move_base_msgs/MoveBaseAction.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <tf/transform_broadcaster.h>
00043 #include <tf/transform_listener.h>
00044 #include <nav_msgs/Odometry.h>
00045 
00046 #include "PatrolAgent.h"
00047 #include "algorithms.h"
00048 
00049 class Cyclic_Agent: public PatrolAgent {
00050 private:
00051     int *path;
00052     int path_elements;
00053     int i_vertex;
00054 public:
00055     virtual void init(int argc, char** argv);
00056     virtual int compute_next_vertex();
00057     //virtual void send_results();
00058     //virtual void receive_results();    
00059 };
00060 
00061 void Cyclic_Agent::init(int argc, char** argv) {
00062     
00063     PatrolAgent::init(argc,argv);
00064     
00065     //robot's cyclic path:
00066     path = new int[8*dimension];
00067   
00068     //get cyclic path:
00069     path_elements = cyclic(dimension, vertex_web, path);
00070     
00071     //Shift the cyclic path to start at the current vertex:
00072     shift_cyclic_path (current_vertex, path, path_elements);
00073     
00074     printf("\nFinal Path: ");
00075     for(int i=0; i<path_elements; i++){
00076         if(i==path_elements-1){ printf("%i\n", path[i]); }else{ printf("%i, ", path[i]); }
00077     }
00078     printf("Number of elements = %i\n", path_elements);
00079     i_vertex=0;
00080     // if (path_elements>1) { i_vertex=1; next_vertex = path[i_vertex]; }
00081     
00082 }
00083 
00084 int Cyclic_Agent::compute_next_vertex() {
00085     i_vertex++;
00086     if ( i_vertex>=path_elements ){ i_vertex=1;}
00087     return path[i_vertex];    
00088 }
00089 
00090 #if 0
00091 // FIXME DONE
00092 void Cyclic_Agent::send_results() {
00093   ros::spinOnce();   
00094 }
00095 
00096 // FIXME DONE
00097 void Cyclic_Agent::receive_results() {
00098   ros::spinOnce();   
00099 }
00100 #endif
00101 
00102 
00103 int main(int argc, char** argv) {
00104   
00105     Cyclic_Agent agent;
00106     agent.init(argc,argv);
00107     agent.run();
00108 
00109     return 0; 
00110 }


patrolling_sim
Author(s):
autogenerated on Thu Jun 6 2019 20:27:09