MipAlgorithms::AntiSimmetry Class Reference
[Anti-Simmetry Control]

Provides an implementation of the anti-simmetry control law. More...

#include <AntiSimmetry.h>

List of all members.

Public Member Functions
	AntiSimmetry (AntiSimmetryParams inParams)
	Parmetrical constructor.
	~AntiSimmetry ()
	Destructor.
Position	step (AntiSimmetryIn &in)
	Performs a step of the algorithm.
vector< Position >	getSimmetryFunction ()
	Gets the last computed simmetry function.
int	getMinSimmetryFunctionRange ()
	Gets the minimum range of the last computed simmetry function.
int	getMaxSimmetryFunctionRange ()
	Gets the maximum range of the last computed simmetry function.
Decimal	getMinSimmetryFunction ()
	Gets the minimum of the simmetry function in the range given by the getSimmetryFunctionRange methods.
int	getMinSimmetryFunctionIndex ()
	Gets the index of the minimum of the simmetry function in the range given by the getSimmetryFunctionRange methods.
Position	getCentroid ()
	Gets the centroid of the formation during the last execution.
void	getCenteredFormation (vector< Position > &ceForm)
	Gets the formation centered in the centroid computed during the last execution.
void	getClosestRotatedFormation (vector< Position > &clForm)
	Gets the closest rotated formation computed during the last execution.
string	print ()
	Print function.

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Detailed Description

Provides an implementation of the anti-simmetry control law.

Author:

Paolo Stegagno

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Constructor & Destructor Documentation

MipAlgorithms::AntiSimmetry::AntiSimmetry

(

AntiSimmetryParams

inParams

)

Parmetrical constructor.

Parameters:

[in]

inParams

Parameters of the algorithm.

MipAlgorithms::AntiSimmetry::~AntiSimmetry

(

)

Destructor.

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Member Function Documentation

Position MipAlgorithms::AntiSimmetry::step

(

AntiSimmetryIn &

in

)

Performs a step of the algorithm.

Parameters:

[in]

&in

Input of the algorithm.

vector< Position > MipAlgorithms::AntiSimmetry::getSimmetryFunction

(

)

Gets the last computed simmetry function.

Returns:

A vector of positions with theta in x and simmetryFunction in y.

int MipAlgorithms::AntiSimmetry::getMinSimmetryFunctionRange

(

)

Gets the minimum range of the last computed simmetry function.

Returns:

The requested value.

int MipAlgorithms::AntiSimmetry::getMaxSimmetryFunctionRange

(

)

Gets the maximum range of the last computed simmetry function.

Returns:

The requested value.

Decimal MipAlgorithms::AntiSimmetry::getMinSimmetryFunction

(

)

Gets the minimum of the simmetry function in the range given by the getSimmetryFunctionRange methods.

Returns:

The requested value.

int MipAlgorithms::AntiSimmetry::getMinSimmetryFunctionIndex

(

)

Gets the index of the minimum of the simmetry function in the range given by the getSimmetryFunctionRange methods.

Returns:

The requested value.

Position MipAlgorithms::AntiSimmetry::getCentroid

(

)

Gets the centroid of the formation during the last execution.

Returns:

Value of the centroid.

void MipAlgorithms::AntiSimmetry::getCenteredFormation

(

vector< Position > &

ceForm

)

Gets the formation centered in the centroid computed during the last execution.

Parameters:

[out]

&ceForm

Writes in this field the requested value.

void MipAlgorithms::AntiSimmetry::getClosestRotatedFormation

(

vector< Position > &

clForm

)

Gets the closest rotated formation computed during the last execution.

Parameters:

[out]

&clForm

Writes in this field the requested value.

string MipAlgorithms::AntiSimmetry::print

(

)

Print function.

Returns:

A printable string.

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The documentation for this class was generated from the following files:

• algorithms/AntiSimmetry/AntiSimmetry.h
• algorithms/AntiSimmetry/AntiSimmetry.cpp