Class wander

Inheritance Relationships

Base Types

  • public rer::client< wander >

  • public cssnest::acq::base_acq

Class Documentation

class wander : public rer::client<wander>, public cssnest::acq::base_acq

Strategy for robot motion after it enters the nest, but before it formally acquires it. Robots wander for a set # timesteps after entering the nest so that the location the robot actually acquires is distributed around the precise goal location to reduce congestion. This helps keep large clusters of avoiding robots from forming near common goals as they all attempt to acquire points VERY close to each other.

Robots continue to phototaxis towards the light and avoid collisions while wandering.

Public Functions

wander(const cssnest::config::acq_config *config, const csfsm::fsm_params *params, rmath::rng *rng)
wander(const wander&) = delete
wander(wander&&) = delete
inline std::unique_ptr<base_acq> clone(void) const override
inline const cssnest::acq::base_acq *nest_acq_strategy(void) const override
wander &operator=(const wander&) = delete
wander &operator=(wander&&) = delete
void task_execute(void) final override
inline bool task_finished(void) const final override
inline void task_reset(void) final override
inline bool task_running(void) const final override
void task_start(cta::taskable_argument*) final override