MSP_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
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
00036 *********************************************************************/
00037 
00038 #include <string>
00039 #include <sstream>
00040 #include <ros/ros.h>
00041 #include <move_base_msgs/MoveBaseAction.h>
00042 #include <actionlib/client/simple_action_client.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include <tf/transform_listener.h>
00045 #include <nav_msgs/Odometry.h>
00046 
00047 #include "PatrolAgent.h"
00048 #include "algorithms.h"
00049 
00050 using namespace std;
00051 
00052 class MSP_Agent: public PatrolAgent {
00053 
00054 private:
00055     int i_vertex;
00056     uint route_dimension;
00057     uint *route;
00058     
00059 public:
00060     virtual void init(int argc, char** argv);
00061     virtual int compute_next_vertex();
00062     //virtual void send_results();
00063     //virtual void receive_results();    
00064 };
00065 
00066 
00067 
00068 void MSP_Agent::init(int argc, char** argv) {
00069     
00070     string msp_file = string(argv[4]);
00071     
00072     PatrolAgent::init(argc,argv);
00073     
00074     //Check Route Dimension:
00075     route_dimension = get_MSP_dimension(msp_file.c_str());
00076     
00077     //Create Structure to save the Route Info;
00078     route = new uint[route_dimension];
00079     
00080     //Get the Route info from the MSP Route File
00081     get_MSP_route (route, route_dimension, msp_file.c_str());
00082     
00083     printf("\nFinal Path: ");
00084     for(size_t i=0; i<route_dimension; i++){
00085         if (i==route_dimension-1)
00086             printf("%i\n", route[i]);
00087         else
00088             printf("%i, ", route[i]); 
00089     }
00090     printf("Number of elements = %i\n", route_dimension);  
00091     
00092     i_vertex = 0;
00093 //    if(route_dimension>1){ i=1; next_vertex = route[i]; }  
00094 
00095 }
00096 
00097 int MSP_Agent::compute_next_vertex() {
00098     i_vertex++;
00099     if ( i_vertex>=route_dimension ) 
00100         i_vertex=1;
00101     return route[i_vertex];
00102 }
00103 
00104 #if 0
00105 // FIXME DONE
00106 void MSP_Agent::send_results() {
00107     ros::spinOnce();
00108 }
00109 
00110 // FIXME DONE
00111 void MSP_Agent::receive_results() {
00112   ros::spinOnce();
00113 }
00114 #endif
00115 
00116 int main(int argc, char** argv) {
00117     
00118     MSP_Agent agent;
00119     agent.init(argc,argv);    
00120     agent.run();
00121 
00122     return 0; 
00123 }
00124 
00125 
00126 
00127 


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