54 lines
2.8 KiB
C++
54 lines
2.8 KiB
C++
/*************************************************************************************
|
|
* Copyright (c) 2016, Miguel Angel Astor Romero *
|
|
* All rights reserved. *
|
|
* *
|
|
* Redistribution and use in source and binary forms, with or without *
|
|
* modification, are permitted provided that the following conditions are met: *
|
|
* *
|
|
* 1. Redistributions of source code must retain the above copyright notice, this *
|
|
* list of conditions and the following disclaimer. *
|
|
* 2. Redistributions in binary form must reproduce the above copyright notice, *
|
|
* this list of conditions and the following disclaimer in the documentation *
|
|
* and/or other materials provided with the distribution. *
|
|
* *
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
|
|
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
|
|
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
|
|
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
|
|
*************************************************************************************/
|
|
|
|
#ifndef IAS_ROBOT_HPP
|
|
#define IAS_ROBOT_HPP
|
|
|
|
#include "robot.hpp"
|
|
|
|
/**
|
|
* Concrete robot that implements the IAS-SS architecture as defined in:
|
|
*
|
|
* 1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
|
|
* Unknown Environments", The Third International Conference on Advanced
|
|
* Cognitive Technologies and Applications, Rome, Italy 2011.
|
|
*
|
|
* 2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
|
|
* for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
|
|
* Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
|
|
*/
|
|
class IASSS_Robot : Robot {
|
|
public:
|
|
IASSS_Robot(std::string hostname, uint32_t port);
|
|
virtual ~IASSS_Robot();
|
|
|
|
virtual void run();
|
|
|
|
private:
|
|
void avoid_wall(float front_speed, float turn_speed);
|
|
};
|
|
|
|
#endif
|