Skip to content
Permalink
Browse files

Greet alg (#82)

* * Moved platforms::Epsilon and base classes to pose namespace
* Modified platforms and algorithms to use new pose::Epsilon and PositionBounds
* Added initial Greet algorithm which moves agents to greeting locations if a target in a list of targets moves within a greeting distance
  * Follow option is not quite working yet
* Added scripts for testing Greet in simulation

* * Updated GAMS repo to style guide
* Updated follow capabilities in the Greet algorithm
* Updated demo scripts for the Greet algorithm
* Removed bazel build files from GAMS

* * Fixing segfault that could occur in GroupFixedList and was causing issues in test_auctions/CI
  • Loading branch information...
jredmondson committed Mar 19, 2019
1 parent 2058a6e commit 5907df312a5c1883236b210f98ac9f8b2025a9ac
Showing with 8,803 additions and 8,040 deletions.
  1. +0 −128 BUILD
  2. +1 −1 scripts/linux/base_build.sh
  3. +40 −0 scripts/simulation/unreal/greet/greet.mf
  4. +44 −0 scripts/simulation/unreal/greet/greet_and_follow.mf
  5. +41 −0 scripts/simulation/unreal/greet/run_greet.sh
  6. +46 −0 scripts/simulation/unreal/greet/run_greet_and_follow.sh
  7. +9 −9 src/gams/algorithms/AlgorithmFactory.cpp
  8. +9 −9 src/gams/algorithms/AlgorithmFactory.h
  9. +102 −94 src/gams/algorithms/AlgorithmFactoryRepository.cpp
  10. +12 −12 src/gams/algorithms/AlgorithmFactoryRepository.h
  11. +0 −82 src/gams/algorithms/BUILD
  12. +18 −18 src/gams/algorithms/BaseAlgorithm.cpp
  13. +18 −18 src/gams/algorithms/BaseAlgorithm.h
  14. +48 −48 src/gams/algorithms/DebugAlgorithm.cpp
  15. +9 −9 src/gams/algorithms/DebugAlgorithm.h
  16. +104 −104 src/gams/algorithms/Executor.cpp
  17. +8 −8 src/gams/algorithms/Executor.h
  18. +74 −74 src/gams/algorithms/Follow.cpp
  19. +8 −8 src/gams/algorithms/Follow.h
  20. +92 −92 src/gams/algorithms/FormationCoverage.cpp
  21. +10 −10 src/gams/algorithms/FormationCoverage.h
  22. +163 −163 src/gams/algorithms/FormationFlying.cpp
  23. +12 −12 src/gams/algorithms/FormationFlying.h
  24. +196 −196 src/gams/algorithms/FormationSync.cpp
  25. +13 −13 src/gams/algorithms/FormationSync.h
  26. +793 −0 src/gams/algorithms/Greet.cpp
  27. +212 −0 src/gams/algorithms/Greet.h
  28. +66 −66 src/gams/algorithms/GroupBarrier.cpp
  29. +11 −11 src/gams/algorithms/GroupBarrier.h
  30. +43 −43 src/gams/algorithms/Hold.cpp
  31. +9 −9 src/gams/algorithms/Hold.h
  32. +31 −31 src/gams/algorithms/Home.cpp
  33. +9 −9 src/gams/algorithms/Home.h
  34. +53 −53 src/gams/algorithms/KarlEvaluator.cpp
  35. +8 −8 src/gams/algorithms/KarlEvaluator.h
  36. +21 −21 src/gams/algorithms/Land.cpp
  37. +8 −8 src/gams/algorithms/Land.h
  38. +53 −53 src/gams/algorithms/MessageProfiling.cpp
  39. +12 −12 src/gams/algorithms/MessageProfiling.h
  40. +109 −109 src/gams/algorithms/Move.cpp
  41. +10 −10 src/gams/algorithms/Move.h
  42. +14 −14 src/gams/algorithms/NullAlgorithm.cpp
  43. +8 −8 src/gams/algorithms/NullAlgorithm.h
  44. +14 −14 src/gams/algorithms/PerformanceProfiling.cpp
  45. +8 −8 src/gams/algorithms/PerformanceProfiling.h
  46. +72 −72 src/gams/algorithms/PerimeterPatrol.cpp
  47. +10 −10 src/gams/algorithms/PerimeterPatrol.h
  48. +118 −118 src/gams/algorithms/Spell.cpp
  49. +10 −10 src/gams/algorithms/Spell.h
  50. +21 −21 src/gams/algorithms/Takeoff.cpp
  51. +9 −9 src/gams/algorithms/Takeoff.h
  52. +22 −22 src/gams/algorithms/Wait.cpp
  53. +9 −9 src/gams/algorithms/Wait.h
  54. +233 −233 src/gams/algorithms/ZoneCoverage.cpp
  55. +19 −19 src/gams/algorithms/ZoneCoverage.h
  56. +0 −40 src/gams/algorithms/area_coverage/BUILD
  57. +35 −35 src/gams/algorithms/area_coverage/BaseAreaCoverage.cpp
  58. +10 −10 src/gams/algorithms/area_coverage/BaseAreaCoverage.h
  59. +44 −44 src/gams/algorithms/area_coverage/LocalPheremoneAreaCoverage.cpp
  60. +6 −6 src/gams/algorithms/area_coverage/LocalPheremoneAreaCoverage.h
  61. +80 −80 src/gams/algorithms/area_coverage/MinTimeAreaCoverage.cpp
  62. +9 −9 src/gams/algorithms/area_coverage/MinTimeAreaCoverage.h
  63. +50 −50 src/gams/algorithms/area_coverage/PerimeterPatrolCoverage.cpp
  64. +7 −7 src/gams/algorithms/area_coverage/PerimeterPatrolCoverage.h
  65. +33 −33 src/gams/algorithms/area_coverage/PrioritizedMinTimeAreaCoverage.cpp
  66. +6 −6 src/gams/algorithms/area_coverage/PrioritizedMinTimeAreaCoverage.h
  67. +43 −43 src/gams/algorithms/area_coverage/PriorityWeightedRandomAreaCoverage.cpp
  68. +6 −6 src/gams/algorithms/area_coverage/PriorityWeightedRandomAreaCoverage.h
  69. +79 −79 src/gams/algorithms/area_coverage/SnakeAreaCoverage.cpp
  70. +8 −8 src/gams/algorithms/area_coverage/SnakeAreaCoverage.h
  71. +36 −36 src/gams/algorithms/area_coverage/UniformRandomAreaCoverage.cpp
  72. +6 −6 src/gams/algorithms/area_coverage/UniformRandomAreaCoverage.h
  73. +56 −56 src/gams/algorithms/area_coverage/UniformRandomEdgeCoverage.cpp
  74. +7 −7 src/gams/algorithms/area_coverage/UniformRandomEdgeCoverage.h
  75. +40 −40 src/gams/algorithms/area_coverage/WaypointsCoverage.cpp
  76. +7 −7 src/gams/algorithms/area_coverage/WaypointsCoverage.h
  77. +112 −112 src/gams/algorithms/java/JavaAlgorithm.cpp
  78. +15 −15 src/gams/algorithms/java/JavaAlgorithm.h
  79. +46 −46 src/gams/auctions/AuctionBase.cpp
  80. +33 −33 src/gams/auctions/AuctionBase.h
  81. +11 −11 src/gams/auctions/AuctionBase.inl
  82. +15 −15 src/gams/auctions/AuctionBid.h
  83. +17 −17 src/gams/auctions/AuctionBid.inl
  84. +6 −6 src/gams/auctions/AuctionFactory.cpp
  85. +9 −9 src/gams/auctions/AuctionFactory.h
  86. +7 −7 src/gams/auctions/AuctionFactoryRepository.cpp
  87. +13 −13 src/gams/auctions/AuctionFactoryRepository.h
  88. +26 −26 src/gams/auctions/AuctionFactoryRepository.inl
  89. +30 −30 src/gams/auctions/AuctionMaximumBid.cpp
  90. +11 −11 src/gams/auctions/AuctionMaximumBid.h
  91. +30 −30 src/gams/auctions/AuctionMinimumBid.cpp
  92. +11 −11 src/gams/auctions/AuctionMinimumBid.h
  93. +36 −36 src/gams/auctions/AuctionMinimumDistance.cpp
  94. +16 −16 src/gams/auctions/AuctionMinimumDistance.h
  95. +0 −35 src/gams/auctions/BUILD
  96. +0 −45 src/gams/controllers/BUILD
  97. +22 −22 src/gams/controllers/BaseController.cpp
  98. +46 −46 src/gams/controllers/BaseController.h
  99. +7 −7 src/gams/controllers/ControllerSettings.h
  100. +3 −3 src/gams/controllers/Multicontroller.cpp
  101. +0 −30 src/gams/elections/BUILD
  102. +47 −47 src/gams/elections/ElectionBase.cpp
  103. +26 −26 src/gams/elections/ElectionBase.h
  104. +9 −9 src/gams/elections/ElectionBase.inl
  105. +26 −26 src/gams/elections/ElectionCumulative.cpp
  106. +12 −12 src/gams/elections/ElectionCumulative.h
  107. +9 −9 src/gams/elections/ElectionFactory.h
  108. +7 −7 src/gams/elections/ElectionFactoryRepository.cpp
  109. +26 −26 src/gams/elections/ElectionFactoryRepository.inl
  110. +33 −33 src/gams/elections/ElectionPlurality.cpp
  111. +13 −13 src/gams/elections/ElectionPlurality.h
  112. +0 −18 src/gams/exceptions/BUILD
  113. +4 −4 src/gams/formations/AgentFormation.cpp
  114. +11 −11 src/gams/formations/AgentFormation.h
  115. +2 −2 src/gams/formations/AgentFormation.inl
  116. +0 −21 src/gams/formations/BUILD
  117. +7 −7 src/gams/formations/StructuralFormation.cpp
  118. +9 −9 src/gams/formations/StructuralFormation.h
  119. +0 −29 src/gams/groups/BUILD
  120. +5 −5 src/gams/groups/GroupBase.cpp
  121. +25 −19 src/gams/groups/GroupBase.h
  122. +3 −3 src/gams/groups/GroupBase.inl
  123. +5 −5 src/gams/groups/GroupFactory.cpp
  124. +6 −6 src/gams/groups/GroupFactory.h
  125. +5 −5 src/gams/groups/GroupFactoryRepository.cpp
  126. +10 −10 src/gams/groups/GroupFactoryRepository.h
  127. +27 −27 src/gams/groups/GroupFactoryRepository.inl
  128. +126 −66 src/gams/groups/GroupFixedList.cpp
  129. +25 −19 src/gams/groups/GroupFixedList.h
  130. +89 −63 src/gams/groups/GroupTransient.cpp
  131. +25 −19 src/gams/groups/GroupTransient.h
  132. +0 −15 src/gams/loggers/BUILD
  133. +1 −1 src/gams/loggers/GlobalLogger.cpp
  134. +0 −15 src/gams/maps/BUILD
  135. +7 −7 src/gams/maps/Grid.cpp
  136. +6 −6 src/gams/maps/Grid.h
  137. +0 −52 src/gams/platforms/BUILD
  138. +47 −47 src/gams/platforms/BasePlatform.cpp
  139. +70 −148 src/gams/platforms/BasePlatform.h
  140. +24 −24 src/gams/platforms/BasePlatform.inl
  141. +69 −69 src/gams/platforms/DebugPlatform.cpp
  142. +19 −19 src/gams/platforms/DebugPlatform.h
  143. +24 −24 src/gams/platforms/NullPlatform.cpp
  144. +19 −19 src/gams/platforms/NullPlatform.h
  145. +24 −24 src/gams/platforms/PlatformCollection.cpp
  146. +18 −18 src/gams/platforms/PlatformCollection.h
  147. +8 −8 src/gams/platforms/PlatformFactory.cpp
  148. +8 −8 src/gams/platforms/PlatformFactory.h
  149. +2 −2 src/gams/platforms/PlatformFactoryRepository.cpp
  150. +11 −11 src/gams/platforms/PlatformFactoryRepository.h
  151. +14 −14 src/gams/platforms/airlib/AirLibBase.cpp
  152. +12 −12 src/gams/platforms/airlib/AirLibBase.h
  153. +18 −18 src/gams/platforms/airlib/AirLibQuadcopter.cpp
  154. +14 −14 src/gams/platforms/airlib/AirLibQuadcopter.h
  155. +2 −2 src/gams/platforms/java/JavaPlatform.cpp
  156. +2 −2 src/gams/platforms/java/JavaPlatform.h
  157. +39 −39 src/gams/platforms/osc/OscJoystickPlatform.cpp
  158. +25 −25 src/gams/platforms/osc/OscJoystickPlatform.h
  159. +26 −25 src/gams/platforms/osc/OscPlatform.cpp
  160. +26 −26 src/gams/platforms/osc/OscPlatform.h
  161. +1 −1 src/gams/platforms/ros/RosBase.cpp
  162. +1 −1 src/gams/platforms/ros/RosBase.h
  163. +1 −1 src/gams/platforms/ros/RosP3Dx.cpp
  164. +1 −1 src/gams/platforms/ros/RosP3Dx.h
  165. +34 −34 src/gams/platforms/vrep/VREPAnt.cpp
  166. +9 −9 src/gams/platforms/vrep/VREPAnt.h
  167. +188 −188 src/gams/platforms/vrep/VREPBase.cpp
  168. +28 −28 src/gams/platforms/vrep/VREPBase.h
  169. +12 −12 src/gams/platforms/vrep/VREPBase.inl
  170. +34 −34 src/gams/platforms/vrep/VREPBoat.cpp
  171. +10 −10 src/gams/platforms/vrep/VREPBoat.h
  172. +47 −47 src/gams/platforms/vrep/VREPQuad.cpp
  173. +9 −9 src/gams/platforms/vrep/VREPQuad.h
  174. +10 −10 src/gams/platforms/vrep/VREPQuadCDRA.cpp
  175. +7 −7 src/gams/platforms/vrep/VREPQuadCDRA.h
  176. +31 −30 src/gams/platforms/vrep/VREPQuadLaser.cpp
  177. +13 −13 src/gams/platforms/vrep/VREPQuadLaser.h
  178. +41 −41 src/gams/platforms/vrep/VREPSummit.cpp
  179. +9 −9 src/gams/platforms/vrep/VREPSummit.h
  180. +12 −12 src/gams/plugins/ros2gams/pcl_plugin.cpp
  181. +0 −23 src/gams/pose/BUILD
  182. +148 −0 src/gams/pose/Epsilon.h
  183. +1 −1 src/gams/pose/GPSFrame.cpp
  184. +1 −1 src/gams/pose/GPSFrame.h
  185. +59 −59 src/gams/pose/Pose.h
  186. +41 −35 src/gams/pose/Pose.inl
  187. +39 −39 src/gams/pose/PrioritizedRegion.cpp
  188. +15 −13 src/gams/pose/PrioritizedRegion.h
  189. +126 −126 src/gams/pose/Region.cpp
  190. +18 −18 src/gams/pose/Region.h
  191. +122 −122 src/gams/pose/SearchArea.cpp
  192. +23 −23 src/gams/pose/SearchArea.h
  193. +4 −4 src/gams/pose/SearchArea.inl
  194. +0 −11 src/gams/programs/BUILD
  195. +83 −83 src/gams/programs/ros2gams.cpp
  196. +11 −9 src/gams/transports/ros/RosBridge.cpp
  197. +5 −5 src/gams/transports/ros/RosBridge.h
  198. +20 −20 src/gams/transports/ros/RosBridgeReadThread.cpp
  199. +5 −5 src/gams/transports/ros/RosBridgeReadThread.h
  200. +11 −11 src/gams/utility/ArgumentParser.h
  201. +0 −60 src/gams/utility/BUILD
  202. +43 −43 src/gams/utility/Containerize.cpp
  203. +15 −15 src/gams/utility/Containerize.h
  204. +1 −1 src/gams/utility/GPSPosition.cpp
  205. +1 −1 src/gams/utility/GPSPosition.h
  206. +84 −84 src/gams/utility/Position.cpp
  207. +39 −39 src/gams/utility/Position.h
  208. +3 −3 src/gams/utility/java/Acquire_VM.h
  209. +129 −129 src/gams/utility/ros/GamsParser.cpp
  210. +16 −16 src/gams/utility/ros/GamsParser.h
  211. +287 −287 src/gams/utility/ros/RosParser.cpp
  212. +35 −35 src/gams/utility/ros/RosParser.h
  213. +28 −28 src/gams/variables/AccentStatus.cpp
  214. +13 −13 src/gams/variables/AccentStatus.h
  215. +102 −102 src/gams/variables/Agent.cpp
  216. +17 −17 src/gams/variables/Agent.h
  217. +43 −43 src/gams/variables/AlgorithmStatus.cpp
  218. +12 −12 src/gams/variables/AlgorithmStatus.h
  219. +0 −27 src/gams/variables/BUILD
  220. +43 −40 src/gams/variables/PlatformStatus.cpp
  221. +8 −8 src/gams/variables/PlatformStatus.h
  222. +13 −13 src/gams/variables/Region.cpp
  223. +8 −8 src/gams/variables/Region.h
  224. +15 −15 src/gams/variables/SearchArea.cpp
  225. +7 −7 src/gams/variables/SearchArea.h
  226. +23 −23 src/gams/variables/Self.cpp
  227. +9 −9 src/gams/variables/Self.h
  228. +72 −72 src/gams/variables/Sensor.cpp
  229. +22 −22 src/gams/variables/Sensor.h
  230. +9 −9 src/gams/variables/Swarm.h
  231. +18 −18 tests/helper/CounterAlgorithm.cpp
  232. +10 −10 tests/helper/CounterAlgorithm.h
  233. +29 −29 tests/helper/CounterPlatform.cpp
  234. +18 −18 tests/helper/CounterPlatform.h
  235. +11 −11 tests/message_performance/madara/ContinuousMadaraReader.cpp
  236. +13 −13 tests/message_performance/madara/ContinuousMadaraWriter.cpp
  237. +8 −8 tests/message_performance/ros_messaging/src/hello_publisher.cpp
  238. +11 −11 tests/message_performance/ros_messaging/src/loop_rate_testing.cpp
  239. +18 −18 tests/test_arguments_parser.cpp
  240. +129 −106 tests/test_auctions.cpp
  241. +43 −43 tests/test_controller.cpp
  242. +60 −60 tests/test_controller_run.cpp
  243. +103 −103 tests/test_elections.cpp
  244. +210 −210 tests/test_formation_sync.cpp
  245. +87 −87 tests/test_groups.cpp
  246. +1 −1 tests/test_joystick.cpp
  247. +0 −2 tests/test_ros2gams.cpp
  248. +1 −1 tests/test_utility.cpp
  249. +30 −30 tests/test_variables.cpp
  250. +41 −41 tests/throughput/algorithms/Modify.cpp
  251. +6 −6 tests/throughput/algorithms/Modify.h
  252. +16 −16 tests/throughput/filters/RcvCount.cpp
  253. +5 −5 tests/throughput/filters/RcvCount.h
  254. +186 −186 tests/throughput/gams_throughput.cpp
  255. +113 −113 tests/transports/ros/test_ros_bridge.cpp
128 BUILD

This file was deleted.

Oops, something went wrong.
@@ -925,7 +925,7 @@ if [ $UNREAL_GAMS -eq 1 ] ; then
./build.sh

else
echo "NOT CHECKING EIGEN"
echo "NOT CHECKING UNREAL GAMS"
fi

if [ $GAMS -eq 1 ] || [ $EIGEN_AS_A_PREREQ -eq 1 ]; then
@@ -0,0 +1,40 @@

.id < .targets => (
!.origin => (.origin = [0, .id * 10, 2]);
!.initial_pose => (.initial_pose = .origin);

// targets run a line along [0, *, 5]

{.prefix}.algorithm="waypoints";
{.prefix}.algorithm.args.locations.size=2;
{.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
{.prefix}.algorithm.args.locations.1=.origin;
{.prefix}.algorithm.args.repeat=5;
);

.id >= .targets => (
!.origin => (.origin = [10, .id * 10, 20]);
!.guard => (.guard = [0, .id * 10, 10]);
!.distance => (.distance = 30);
!.initial_pose => (.initial_pose = .origin);
!.targets => (.targets = 1);

.osc.loiter_timeout=-1;
.osc.respawn_timeout=-1;

// follow.max_agents
// follow
// follow.group
// guard.location
// guard.distance
// home.location
// target.group

group.targets.members.size=1;
group.targets.members.0='agent.0';

{.prefix}.algorithm="greet";
{.prefix}.algorithm.args.home.location=.origin;
{.prefix}.algorithm.args.guard.distance=.distance;
{.prefix}.algorithm.args.guard.location=.guard;
);
@@ -0,0 +1,44 @@

.id < .targets => (
!.origin => (.origin = [0, .id * 10, 2]);
!.initial_pose => (.initial_pose = .origin);

// targets run a line along [0, *, 5]

{.prefix}.algorithm="waypoints";
{.prefix}.algorithm.args.locations.size=2;
{.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
{.prefix}.algorithm.args.locations.1=.origin;
{.prefix}.algorithm.args.repeat=5;
);

.id >= .targets => (
!.origin => (.origin = [10, .id * 10, 20]);
!.guard => (.guard = [0, .id * 10, 10]);
!.distance => (.distance = 30);
!.max_distance => (.max_distance = 40);
!.initial_pose => (.initial_pose = .origin);
!.targets => (.targets = 1);
!.followers => (.followers = 2);

.osc.loiter_timeout=-1;
.osc.respawn_timeout=-1;

// follow.max_agents
// follow
// follow.group
// guard.location
// guard.distance
// home.location
// target.group

group.targets.members.size=1;
group.targets.members.0='agent.0';

{.prefix}.algorithm="greet";
{.prefix}.algorithm.args.home.location=.origin;
{.prefix}.algorithm.args.guard.distance=.distance;
{.prefix}.algorithm.args.guard.location=.guard;
{.prefix}.algorithm.args.guard.max_follow_distance=.max_distance;
{.prefix}.algorithm.args.follow.max_agents=.followers;
);
@@ -0,0 +1,41 @@
#/bin/bash

TYPE="quadcopter"
LEAD="agent.0"
N=10
NT=0
TARGETS=1
SCRIPTS_DIR=`dirname $0`
SCRIPT="$SCRIPTS_DIR/greet.mf"
LOG_LEVEL=1

if [ $# -ge 1 ]; then
if [ "$1" == "help" ] || [ "$1" == "-h" ]; then
echo "$0 [type=quad] [targets=1] [num agents=10] [no-transport]"
exit 0
fi

TYPE="$1"

if [ $# -ge 2 ]; then
TARGETS=$2
fi

if [ $# -ge 3 ]; then
N=$3
fi

if [ $# -ge 4 ]; then
NT=1
fi
fi

if [ $NT -eq 1 ]; then
echo gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
else
echo gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
fi

exit 0
@@ -0,0 +1,46 @@
#/bin/bash

TYPE="quadcopter"
LEAD="agent.0"
N=10
FOLLOWERS=2
NT=0
TARGETS=1
SCRIPTS_DIR=`dirname $0`
SCRIPT="$SCRIPTS_DIR/greet_and_follow.mf"
LOG_LEVEL=1

if [ $# -ge 1 ]; then
if [ "$1" == "help" ] || [ "$1" == "-h" ]; then
echo "$0 [type=quad] [targets=1] [followers=2] [num agents=10] [no-transport]"
exit 0
fi

TYPE="$1"

if [ $# -ge 2 ]; then
TARGETS=$2
fi

if [ $# -ge 3 ]; then
FOLLOWERS=$3
fi

if [ $# -ge 4 ]; then
N=$4
fi

if [ $# -ge 5 ]; then
NT=1
fi
fi

if [ $NT -eq 1 ]; then
echo gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
else
echo gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
fi

exit 0
@@ -1,5 +1,5 @@
/**
* Copyright (c) 2014 Carnegie Mellon University. All Rights Reserved.
* Copyright(c) 2014 Carnegie Mellon University. All Rights Reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -51,42 +51,42 @@
using std::cerr;
using std::endl;

gams::algorithms::AlgorithmFactory::AlgorithmFactory ()
: knowledge_ (0), agents_ (0), platform_ (0), self_ (0), sensors_ (0)
gams::algorithms::AlgorithmFactory::AlgorithmFactory()
: knowledge_(0), agents_(0), platform_(0), self_(0), sensors_(0)
{
}

gams::algorithms::AlgorithmFactory::~AlgorithmFactory ()
gams::algorithms::AlgorithmFactory::~AlgorithmFactory()
{
}

void
gams::algorithms::AlgorithmFactory::set_agents (variables::Agents * agents)
gams::algorithms::AlgorithmFactory::set_agents(variables::Agents * agents)
{
agents_ = agents;
}

void
gams::algorithms::AlgorithmFactory::set_knowledge (
gams::algorithms::AlgorithmFactory::set_knowledge(
madara::knowledge::KnowledgeBase * knowledge)
{
knowledge_ = knowledge;
}

void
gams::algorithms::AlgorithmFactory::set_platform (platforms::BasePlatform * platform)
gams::algorithms::AlgorithmFactory::set_platform(platforms::BasePlatform * platform)
{
platform_ = platform;
}

void
gams::algorithms::AlgorithmFactory::set_self (variables::Self * self)
gams::algorithms::AlgorithmFactory::set_self(variables::Self * self)
{
self_ = self;
}

void
gams::algorithms::AlgorithmFactory::set_sensors (variables::Sensors * sensors)
gams::algorithms::AlgorithmFactory::set_sensors(variables::Sensors * sensors)
{
sensors_ = sensors;
}
Oops, something went wrong.

0 comments on commit 5907df3

Please sign in to comment.
You can’t perform that action at this time.