"""

A simple example of using the CoverageControl library

"""

import coverage_control as cc

from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm

# Algorithms available:

# ClairvoyantCVT

# CentralizedCVT

# DecentralizedCVT

# NearOptimalCVT

params = cc.Parameters()

# CoverageSystem handles the environment and robots

env = cc.CoverageSystem(params)

init_cost = env.GetObjectiveValue()

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

# Runs the coverage control algorithm

controller = CoverageAlgorithm(params, env)

for i in range(0, params.pEpisodeSteps):

# Compute actions to be taken by the robots

controller.ComputeActions()

# Get actions from the controller

actions = controller.GetActions()

# Send actions to the environment

if env.StepActions(actions):

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

break

if controller.IsConverged():

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

break

# print some metrics

current_cost = env.GetObjectiveValue()

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