Program Listing for File interactivity.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <numeric>
#include <vector>

#include "rcppsw/rcppsw.hpp"

#include "cosm/convergence/convergence_measure.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::convergence {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class interactivity final : public convergence_measure {
 public:
  explicit interactivity(double epsilon) : convergence_measure(epsilon) {}

  /*
   * \brief Compute the interaction degree.
   *
   * Note that each robot's distance to closest neighbor does not necessarily
   * appear in the same place in the result array on subsequent timesteps. This
   * is OK, because we are doing a cumulative addition with the results as we
   * collect metrics, so it doesn't really matter that you are not doing
   * strictly piecewise addition.
   */

  bool operator()(const std::vector<double>& dists) {
    update_raw(std::accumulate(dists.begin(), dists.end(), 0.0));

    /*
     * The 1.0 - factor is because if the raw degree is HIGHER than any we have
     * yet seen, that means that the swarm the LEAST interactive we have yet
     * seen it, and so should receive a value of 0.
     */
    set_norm(1.0 - rmath::normalize(raw_min(), raw_max(), raw()));
    return update_convergence_state();
  }
};

} /* namespace cosm::convergence */