Class TreeDeployAgent

java.lang.Object
  TreeDeployAgent

All Implemented Interfaces:

IAgent, ITreeAlgAgent

public class TreeDeployAgent
extends java.lang.Object
implements ITreeAlgAgent

Constructor Summary

TreeDeployAgent()

TreeDeployAgent(double lfCommRad)

TreeDeployAgent(double lfCommRad, double lfVel)

TreeDeployAgent(TreeDeployAgent src)

Method Summary

boolean	checkStateValidity(StateBundle state) checks that a particular discrete state is valid for this agent
java.lang.reflect.Type	getAnnoteType() Mike, add some comments here
IMsg	getMsgAnnotation(ILogicVarBundle vars, double[] arrLfState, int nIdx) gets the message to annotate the TreeConstraintState recieved by neighbors in TreeConstraintAgent algorithm
void	getMsgs(ILogicVarBundle discreteState, IDiscreteDynamicsCallback dynCallback, double[] arrLfStateCont, double lfCurrTime, int nIdxStateOffset, java.util.Iterator<CommLink> channelsToSendOn) Given the state of an agent, and the channels it can send messages on, push the next set of messages onto the appropriate channels.
java.util.Comparator<TreeConstraintState>	getPrefComp(TreeConstraintState agentSorting) gets a comparator for sorting ITreeAlgAgent nodes by preference
ITreeAlgAgent	makeCopy() in case the agent has some internal state, this allows synchronized wrapper calls to cache a snapshot of the agent at some rational point in time.
StateBundle	updateState(ILogicVarBundle statePrev, double[] arrLfStateCont, double lfCurrTime, int idxStateOffset, IEnvironment env, java.util.Iterator<CommLink> channelsRecieveFrom) Given the previous state of an agent, and the channels to recieve messages from, recieve messages (destructively) and return new state (non-destructively).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TreeDeployAgent

public TreeDeployAgent()

TreeDeployAgent

public TreeDeployAgent(double lfCommRad)

TreeDeployAgent

public TreeDeployAgent(double lfCommRad,
                       double lfVel)

TreeDeployAgent

public TreeDeployAgent(TreeDeployAgent src)

Method Detail

checkStateValidity

public boolean checkStateValidity(StateBundle state)

Description copied from interface: IAgent

checks that a particular discrete state is valid for this agent

Specified by:

checkStateValidity in interface IAgent

getMsgs

public void getMsgs(ILogicVarBundle discreteState,
                    IDiscreteDynamicsCallback dynCallback,
                    double[] arrLfStateCont,
                    double lfCurrTime,
                    int nIdxStateOffset,
                    java.util.Iterator<CommLink> channelsToSendOn)

Given the state of an agent, and the channels it can send messages on, push the next set of messages onto the appropriate channels. Channels are assumed to be modified by this operation. One weakness of this signature is that it requires programmer discipline not to look at the continuous state of agents other then your neighbors.

Specified by:

getMsgs in interface IAgent

Parameters:

discreteState - discrete component of agent state

arrLfStateCont - global vector of continuous state

nIdxStateOffset - offset into global state vector corresonding to this agent.

channelsToSendOn - Iterator containing objects of type CommLink corresponding to channels to send messages on (neighbor indices can be ascertained from channels).

See Also:

for type handled by iterator

makeCopy

public ITreeAlgAgent makeCopy()

Description copied from interface: IAgent

in case the agent has some internal state, this allows synchronized wrapper calls to cache a snapshot of the agent at some rational point in time. If the agent has no internal state, this function can just return "this".

Specified by:

makeCopy in interface IAgent

Specified by:

makeCopy in interface ITreeAlgAgent

updateState

public StateBundle updateState(ILogicVarBundle statePrev,
                               double[] arrLfStateCont,
                               double lfCurrTime,
                               int idxStateOffset,
                               IEnvironment env,
                               java.util.Iterator<CommLink> channelsRecieveFrom)

Description copied from interface: IAgent

Given the previous state of an agent, and the channels to recieve messages from, recieve messages (destructively) and return new state (non-destructively).

Specified by:

updateState in interface IAgent

Parameters:

statePrev - previous state (do not modify)

arrLfStateCont - vector of all continuous states (do not modify)

idxStateOffset - offset into arrLfStateCont corresponding to start of this agents continuous variables

channelsRecieveFrom - iterator storing CommLink classes corresponding incoming channels

Returns:

new state bundle containing discrete state of agent and new control function

See Also:

for type handled by iterator

getMsgAnnotation

public IMsg getMsgAnnotation(ILogicVarBundle vars,
                             double[] arrLfState,
                             int nIdx)

Description copied from interface: ITreeAlgAgent

gets the message to annotate the TreeConstraintState recieved by neighbors in TreeConstraintAgent algorithm

Specified by:

getMsgAnnotation in interface ITreeAlgAgent

Parameters:

vars - logic state of this agent.

arrLfState - position of whole swarm (requires programmer discipline to only access current robot's position)

nIdx - index of current robot.

Returns:

something deriving form IMsg must be what this agent's getPrefComp is expecting.

getAnnoteType

public java.lang.reflect.Type getAnnoteType()

Description copied from interface: ITreeAlgAgent

Mike, add some comments here

Specified by:

getAnnoteType in interface ITreeAlgAgent

Returns:

getPrefComp

public java.util.Comparator<TreeConstraintState> getPrefComp(TreeConstraintState agentSorting)

gets a comparator for sorting ITreeAlgAgent nodes by preference

Specified by:

getPrefComp in interface ITreeAlgAgent

Returns:

Comparator -- smaller number means more preference