InformationGainPlanner Class Reference

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

#include <IGPlanner.h>

Inheritance diagram for InformationGainPlanner:

List of all members.

Public Member Functions
	InformationGainPlanner (const ConfigFile &config)
	Constructor.
virtual	~InformationGainPlanner ()
	Destructor.
Private Member Functions
void	execute ()
	virtual method for the thread main process.
void	onStop ()
	this virtual method will be executed when the stop method is called
int	setup ()
	this virtual method will be executed when trying to start the thead, must return 0 if ok
int	utility (const gridMapInterface &omap, const binMap &esz)
Private Attributes
ClMutex	closing
bool	completedPath
float	cost_weight
bool	endPlanner
int	inflate_obstacles
std::vector< point >	path
float	replanning_period
bool	showPlanner
float	utility_radius
float	utility_weight

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Detailed Description

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

Value = IG - Cost

IG: is the expected number of visible cells from that frontier cell

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 IGPlanner.h.

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

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