A class to divide the environment optimally among multiple cyber physical systems (CPSs). More...

#include <area_division.h>

Public Member Functions
	area_division ()
	Constructor. More...

void	divide ()
	Perform the area division. More...

nav_msgs::OccupancyGrid	get_grid (nav_msgs::OccupancyGrid map, string cps)
	Get the region assigned to a CPS. More...

void	initialize_cps (map< string, vector< int >> cpss)
	Define the CPS positions. More...

void	initialize_map (int r, int c, vector< signed char > src)
	Define the grid map. More...

Private Member Functions
void	assign (vector< valarray< double >> matrix)
	Define the assignment matrix based on a given distance metric matrix. More...

valarray< float >	CalcConnectedMultiplier (valarray< float > dist1, valarray< float > dist2)
	Calculate the connected multiplier. More...

valarray< double >	FinalUpdateOnMetricMatrix (double CM, valarray< double > curentONe, valarray< float > CC)
	Update the metric matrix. More...

bool	isThisAGoalState (int thres)
	Check if the areas assigned to each robot are of similar size. More...

Private Attributes
valarray< int >	A
	Area assignment matrix. More...

vector< int >	ArrayOfElements
	Grid cells not assigned to the robots. More...

vector< valarray< int > >	BWlist
	A binary array for each CPS which indicates free space. More...

int	cols
	Number of columns in the grid map. More...

vector< vector< int > >	cps
	Positions of the CPSs. More...

int	discr
	Maximum difference between number of assigned grid cells to each CPS. More...

vector< signed char >	gridmap
	The environment grid map. Robots are represented by 2, obstacles by 1/-2, empty cells by -1. More...

int	max_iter
	Maximum number of iterations of the optimization process. More...

int	nr
	Number of robots. More...

int	ob
	Number of obstacles. More...

vector< bool >	regions
	Whether the regions of the robots are connected. More...

int	rows
	Number of rows in the grid map. More...

bool	success
	Whether the assignment succeeded. More...

map< string, int >	uuid_map
	UUID mapping of CPSs. More...

double	variate_weight
	Maximum variate weight of connected components. More...

Detailed Description

A class to divide the environment optimally among multiple cyber physical systems (CPSs).

Definition at line 18 of file lib/area_division.h.

Constructor & Destructor Documentation

◆ area_division()

area_division::area_division ( )

Constructor.

Definition at line 3 of file lib/area_division.cpp.

Member Function Documentation

◆ assign()

void area_division::assign ( vector< valarray< double >> matrix )

private

Define the assignment matrix based on a given distance metric matrix.

Parameters

matrix A matrix of distance metrics.

Definition at line 196 of file lib/area_division.cpp.

◆ CalcConnectedMultiplier()

valarray< float > area_division::CalcConnectedMultiplier	(	valarray< float >	dist1,
		valarray< float >	dist2
	)

private

Calculate the connected multiplier.

Parameters

dist1
dist2

Returns: The connected multiplier array.

Definition at line 265 of file lib/area_division.cpp.

◆ divide()

void area_division::divide ( )

Perform the area division.

Definition at line 12 of file lib/area_division.cpp.

◆ FinalUpdateOnMetricMatrix()

valarray< double > area_division::FinalUpdateOnMetricMatrix	(	double	CM,
		valarray< double >	curentONe,
		valarray< float >	CC
	)

private

Update the metric matrix.

Parameters

CM	Correction multiplier.
curentONe	Current metric matrix.
CC	Connected multiplier array.

Returns: The updated metric matrix.

Definition at line 231 of file lib/area_division.cpp.

◆ get_grid()

nav_msgs::OccupancyGrid area_division::get_grid	(	nav_msgs::OccupancyGrid	map,
		string	cps
	)

Get the region assigned to a CPS.

Parameters

map	Original grid map.
cps	UUID of the CPS.

Returns: Grid map which contains obstacles in cells assigned to the CPS.

Definition at line 130 of file lib/area_division.cpp.

◆ initialize_cps()

void area_division::initialize_cps ( map< string, vector< int >> cpss )

Define the CPS positions.

Parameters

cpss	Mapping from UUIDs to positions of the CPSs.

Definition at line 155 of file lib/area_division.cpp.

◆ initialize_map()

void area_division::initialize_map	(	int	r,
		int	c,
		vector< signed char >	src
	)

Define the grid map.

Parameters

r	Number of rows in the grid map.
c	Number of columns in the grid map.
src	Grid map describing the environment in the ROS format.

Definition at line 187 of file lib/area_division.cpp.

◆ isThisAGoalState()

bool area_division::isThisAGoalState ( int thres )

private

Check if the areas assigned to each robot are of similar size.

Parameters

thres The maximum number of grid cells that the areas assigned to different robots is allowed to differ.

Returns: True, if the maximum assigned area to any robot is at most thresh larger than the minimum assigned area to any robot, false otherwise.

Definition at line 243 of file lib/area_division.cpp.

Member Data Documentation

◆ A

valarray<int> area_division::A

private

Area assignment matrix.

Definition at line 137 of file lib/area_division.h.

◆ ArrayOfElements

vector<int> area_division::ArrayOfElements

private

Grid cells not assigned to the robots.

Definition at line 142 of file lib/area_division.h.

◆ BWlist

vector<valarray<int> > area_division::BWlist

private

A binary array for each CPS which indicates free space.

Definition at line 132 of file lib/area_division.h.

◆ cols

int area_division::cols

private

Number of columns in the grid map.

Definition at line 97 of file lib/area_division.h.

◆ cps

vector<vector<int> > area_division::cps

private

Positions of the CPSs.

Definition at line 122 of file lib/area_division.h.

◆ discr

int area_division::discr

private

Maximum difference between number of assigned grid cells to each CPS.

Definition at line 157 of file lib/area_division.h.

◆ gridmap

vector<signed char> area_division::gridmap

private

The environment grid map. Robots are represented by 2, obstacles by 1/-2, empty cells by -1.

Definition at line 117 of file lib/area_division.h.

◆ max_iter

int area_division::max_iter

private

Maximum number of iterations of the optimization process.

Definition at line 112 of file lib/area_division.h.

◆ nr

int area_division::nr

private

Number of robots.

Definition at line 102 of file lib/area_division.h.

◆ ob

int area_division::ob

private

Number of obstacles.

Definition at line 107 of file lib/area_division.h.

◆ regions

vector<bool> area_division::regions

private

Whether the regions of the robots are connected.

Definition at line 147 of file lib/area_division.h.

◆ rows

int area_division::rows

private

Number of rows in the grid map.

Definition at line 92 of file lib/area_division.h.

◆ success

bool area_division::success

private

Whether the assignment succeeded.

Definition at line 152 of file lib/area_division.h.

◆ uuid_map

map<string, int> area_division::uuid_map

private

UUID mapping of CPSs.

Definition at line 127 of file lib/area_division.h.

◆ variate_weight

double area_division::variate_weight

private

Maximum variate weight of connected components.

Definition at line 87 of file lib/area_division.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ area_division()

Member Function Documentation

◆ assign()

◆ CalcConnectedMultiplier()

◆ divide()

◆ FinalUpdateOnMetricMatrix()

◆ get_grid()

◆ initialize_cps()

◆ initialize_map()

◆ isThisAGoalState()

Member Data Documentation

◆ A

◆ ArrayOfElements

◆ BWlist

◆ cols

◆ cps

◆ discr

◆ gridmap

◆ max_iter

◆ nr

◆ ob

◆ regions

◆ rows

◆ success

◆ uuid_map

◆ variate_weight