"""

An example class to use the CoverageControl library to run a coverage algorithm

"""

import sys

import coverage_control as cc # Main library

from coverage_control import CoverageSystem

from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm

# Algorithms available:

# ClairvoyantCVT

# CentralizedCVT

# DecentralizedCVT

# NearOptimalCVT

class RunCoverageAlgorithm:

"""

A class to run the coverage algorithm

"""

def __init__(self, params_filename=None):

if params_filename is not None:

self.params_ = cc.Parameters(params_filename)

else:

self.params_ = cc.Parameters()

self.params_.pNumGaussianFeatures = 5

self.params_.pMaxSigma = 100

self.params_.pMinSigma = 100

self.env = CoverageSystem(self.params_)

self.env.PlotInitMap('Init')

self.controller = CoverageAlgorithm(

self.params_, self.params_.pNumRobots, self.env

)

def step(self):

"""

Run one step of the coverage algorithm

"""

self.controller.ComputeActions()

actions = self.controller.GetActions()

error_flag = self.env.StepActions(actions)

return error_flag

def execute(self):

"""

Run the coverage algorithm

"""

num_steps = 1

init_cost = self.env.GetObjectiveValue()

print(f"Initial Coverage cost: {init_cost:.2e}")

while num_steps <= self.params_.pEpisodeSteps:

if self.step():

print(f"Error in step {num_steps}")

break

if self.controller.IsConverged():

print(f"Converged in step {num_steps}")

break

num_steps = num_steps + 1

final_cost = self.env.GetObjectiveValue()

print(f"Improvement %: {100 * (init_cost - final_cost)/init_cost:.2f}")

self.env.PlotSystemMap('Final')

if __name__ == "__main__":

if len(sys.argv) > 1:

cc = RunCoverageAlgorithm(sys.argv[1])

else:

cc = RunCoverageAlgorithm()

cc.execute()