Class EnergyFunctionalCoverageRobot

• Defined in File energy_functional_coverage_robot.h

Inheritance Relationships

Base Type

• public POMDPCoverageRobot (Class POMDPCoverageRobot)

Class Documentation

class EnergyFunctionalCoverageRobot : public POMDPCoverageRobot

Subclass of POMDPCoverageRobot which instead uses the energy functional method in ‘New brooms sweep clean - An autonomous robotic cleaning assistant for professional office cleaning’.

At each time step, the robot chooses a target which minimises an energy function. If the target is not a neighbour, we choose the neighbour which gets us closest.

Members: As in superclass, plus:

• _useWallPointTerm: A boolean flag. If true, we use the wall point term that appears in the reference implementation, but not the relevant papers.

Public Functions

inline EnergyFunctionalCoverageRobot(const GridCell &currentLoc, int timeBound, int xDim, int yDim, const std::vector<GridCell> &fov, std::shared_ptr<IMacExecutor> exec, std::shared_ptr<IMac> groundTruthIMac = nullptr, const ParameterEstimate &estimationType = ParameterEstimate::posteriorSample, bool useWallPointTerm = true)

Constructor calls super constructor and initialises new members.

Parameters:

• currentLoc – The robot’s current location

• timeBound – The planning time bound

• xDim – The x dimension of the map

• yDim – The y dimension of the map

• exec – The IMacExecutor representing the environment

• fov – The robot’s FOV as a vector of relative grid cells

• groundTruthIMac – The ground truth IMac instance (if we don’t want to use BiMac)

• estimationType – The type of parameter estimation to use for IMac instance for episode

• useWallPointTerm – If true, we use the wall point term that appears in the reference implementation, but not the relevant papers.