Greet alg (#82)

* * Moved platforms::Epsilon and base classes to pose namespace
* Modified platforms and algorithms to use new pose::Epsilon and PositionBounds
* Added initial Greet algorithm which moves agents to greeting locations if a target in a list of targets moves within a greeting distance
  * Follow option is not quite working yet
* Added scripts for testing Greet in simulation

* * Updated GAMS repo to style guide
* Updated follow capabilities in the Greet algorithm
* Updated demo scripts for the Greet algorithm
* Removed bazel build files from GAMS

* * Fixing segfault that could occur in GroupFixedList and was causing issues in test_auctions/CI

scripts/linux/base_build.sh

@@ -925,7 +925,7 @@ if [ $UNREAL_GAMS -eq 1 ] ; then
   ./build.sh
 
 else
-  echo "NOT CHECKING EIGEN"
+  echo "NOT CHECKING UNREAL GAMS"
 fi
 
 if [ $GAMS -eq 1 ] || [ $EIGEN_AS_A_PREREQ -eq 1 ]; then

scripts/simulation/unreal/greet/greet.mf

@@ -0,0 +1,40 @@
+
+.id < .targets => (
+  !.origin => (.origin = [0, .id * 10, 2]);
+  !.initial_pose => (.initial_pose = .origin);
+
+  // targets run a line along [0, *, 5]
+
+  {.prefix}.algorithm="waypoints";
+  {.prefix}.algorithm.args.locations.size=2;
+  {.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
+  {.prefix}.algorithm.args.locations.1=.origin;
+  {.prefix}.algorithm.args.repeat=5;
+);
+
+.id >= .targets => (
+  !.origin => (.origin = [10, .id * 10, 20]);
+  !.guard => (.guard = [0, .id * 10, 10]);
+  !.distance => (.distance = 30);
+  !.initial_pose => (.initial_pose = .origin);
+  !.targets => (.targets = 1);
+
+  .osc.loiter_timeout=-1;
+  .osc.respawn_timeout=-1;
+
+  // follow.max_agents
+  // follow
+  // follow.group
+  // guard.location
+  // guard.distance
+  // home.location
+  // target.group
+
+  group.targets.members.size=1;
+  group.targets.members.0='agent.0';
+
+  {.prefix}.algorithm="greet";
+  {.prefix}.algorithm.args.home.location=.origin;
+  {.prefix}.algorithm.args.guard.distance=.distance;
+  {.prefix}.algorithm.args.guard.location=.guard;
+);

scripts/simulation/unreal/greet/greet_and_follow.mf

@@ -0,0 +1,44 @@
+
+.id < .targets => (
+  !.origin => (.origin = [0, .id * 10, 2]);
+  !.initial_pose => (.initial_pose = .origin);
+
+  // targets run a line along [0, *, 5]
+
+  {.prefix}.algorithm="waypoints";
+  {.prefix}.algorithm.args.locations.size=2;
+  {.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
+  {.prefix}.algorithm.args.locations.1=.origin;
+  {.prefix}.algorithm.args.repeat=5;
+);
+
+.id >= .targets => (
+  !.origin => (.origin = [10, .id * 10, 20]);
+  !.guard => (.guard = [0, .id * 10, 10]);
+  !.distance => (.distance = 30);
+  !.max_distance => (.max_distance = 40);
+  !.initial_pose => (.initial_pose = .origin);
+  !.targets => (.targets = 1);
+  !.followers => (.followers = 2);
+
+  .osc.loiter_timeout=-1;
+  .osc.respawn_timeout=-1;
+
+  // follow.max_agents
+  // follow
+  // follow.group
+  // guard.location
+  // guard.distance
+  // home.location
+  // target.group
+
+  group.targets.members.size=1;
+  group.targets.members.0='agent.0';
+
+  {.prefix}.algorithm="greet";
+  {.prefix}.algorithm.args.home.location=.origin;
+  {.prefix}.algorithm.args.guard.distance=.distance;
+  {.prefix}.algorithm.args.guard.location=.guard;
+  {.prefix}.algorithm.args.guard.max_follow_distance=.max_distance;
+  {.prefix}.algorithm.args.follow.max_agents=.followers;
+);

scripts/simulation/unreal/greet/run_greet.sh

@@ -0,0 +1,41 @@
+#/bin/bash
+
+TYPE="quadcopter"
+LEAD="agent.0"
+N=10
+NT=0
+TARGETS=1
+SCRIPTS_DIR=`dirname $0`
+SCRIPT="$SCRIPTS_DIR/greet.mf"
+LOG_LEVEL=1
+
+if [ $# -ge 1 ]; then
+  if [ "$1" == "help" ] || [ "$1" == "-h" ]; then
+    echo "$0 [type=quad] [targets=1] [num agents=10] [no-transport]"
+    exit 0
+  fi
+
+  TYPE="$1"
+
+  if [ $# -ge 2 ]; then
+    TARGETS=$2
+  fi
+
+  if [ $# -ge 3 ]; then
+    N=$3
+  fi
+
+  if [ $# -ge 4 ]; then
+    NT=1
+  fi
+fi
+
+if [ $NT -eq 1 ]; then
+  echo gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+  gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+else
+  echo gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+  gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+fi
+
+exit 0

scripts/simulation/unreal/greet/run_greet_and_follow.sh

@@ -0,0 +1,46 @@
+#/bin/bash
+
+TYPE="quadcopter"
+LEAD="agent.0"
+N=10
+FOLLOWERS=2
+NT=0
+TARGETS=1
+SCRIPTS_DIR=`dirname $0`
+SCRIPT="$SCRIPTS_DIR/greet_and_follow.mf"
+LOG_LEVEL=1
+
+if [ $# -ge 1 ]; then
+  if [ "$1" == "help" ] || [ "$1" == "-h" ]; then
+    echo "$0 [type=quad] [targets=1] [followers=2] [num agents=10] [no-transport]"
+    exit 0
+  fi
+
+  TYPE="$1"
+
+  if [ $# -ge 2 ]; then
+    TARGETS=$2
+  fi
+
+  if [ $# -ge 3 ]; then
+    FOLLOWERS=$3
+  fi
+
+  if [ $# -ge 4 ]; then
+    N=$4
+  fi
+
+  if [ $# -ge 5 ]; then
+    NT=1
+  fi
+fi
+
+if [ $NT -eq 1 ]; then
+  echo gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+  gams_controller -mc $N -n $N -nt -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+else
+  echo gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+  gams_controller -mc $N -n $N -p osc-$TYPE -0 ".targets=$TARGETS;.followers=$FOLLOWERS" -M $SCRIPT -z 4 --gams-level $LOG_LEVEL
+fi
+
+exit 0

src/gams/algorithms/AlgorithmFactory.cpp

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2014 Carnegie Mellon University. All Rights Reserved.
+ * Copyright(c) 2014 Carnegie Mellon University. All Rights Reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -51,42 +51,42 @@
 using std::cerr;
 using std::endl;
 
-gams::algorithms::AlgorithmFactory::AlgorithmFactory ()
-  : knowledge_ (0), agents_ (0), platform_ (0), self_ (0), sensors_ (0)
+gams::algorithms::AlgorithmFactory::AlgorithmFactory()
+  : knowledge_(0), agents_(0), platform_(0), self_(0), sensors_(0)
 {
 }
 
-gams::algorithms::AlgorithmFactory::~AlgorithmFactory ()
+gams::algorithms::AlgorithmFactory::~AlgorithmFactory()
 {
 }
 
 void
-gams::algorithms::AlgorithmFactory::set_agents (variables::Agents * agents)
+gams::algorithms::AlgorithmFactory::set_agents(variables::Agents * agents)
 {
   agents_ = agents;
 }
 
 void
-gams::algorithms::AlgorithmFactory::set_knowledge (
+gams::algorithms::AlgorithmFactory::set_knowledge(
   madara::knowledge::KnowledgeBase * knowledge)
 {
   knowledge_ = knowledge;
 }
 
 void
-gams::algorithms::AlgorithmFactory::set_platform (platforms::BasePlatform * platform)
+gams::algorithms::AlgorithmFactory::set_platform(platforms::BasePlatform * platform)
 {
   platform_ = platform;
 }
 
 void
-gams::algorithms::AlgorithmFactory::set_self (variables::Self * self)
+gams::algorithms::AlgorithmFactory::set_self(variables::Self * self)
 {
   self_ = self;
 }
 
 void
-gams::algorithms::AlgorithmFactory::set_sensors (variables::Sensors * sensors)
+gams::algorithms::AlgorithmFactory::set_sensors(variables::Sensors * sensors)
 {
   sensors_ = sensors;
 }