CoordinatedPlanner Class Reference

Implements an exploration algorithm that chooses its target cell using a cost-utility model. More...

#include <CoordinatedPlanner.h>

Inheritance diagram for CoordinatedPlanner:

List of all members.

Public Member Functions
	CoordinatedPlanner (const ConfigFile &config)
	Constructor.
virtual	~CoordinatedPlanner ()
	Destructor.
Private Member Functions
void	execute ()
	Thead execution body.
void	onStop ()
	Thread on stop.
int	setup ()
	Thread setup.
Private Attributes
ClMutex	closing
bool	completedPath
point *	destinations
bool	endPlanner
int	inflate_obstacles
float	influence_radius
std::vector< point >	path
float	replanning_period
bool	showPlanner

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Detailed Description

Implements an exploration algorithm that chooses its target cell using a cost-utility model.

Author: Miguel Julia <mjulia@umh.es>

Date: 2009

Class CoordinatedPlanner

Value = Utility - Cost

Utility: is a function to the distance to the cells assigned to the other robots

Cost: is the length of the path to arrive to the cell

The target frontier cell that maximizes the value is chosen

Definition at line 38 of file CoordinatedPlanner.h.

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The documentation for this class was generated from the following files:

• include/architecture/planner/CoordinatedPlanner.h
• src/architecture/planner/CoordinatedPlanner.cpp