SpringDampFormCtrlPar Class Reference
[Formation control algorithms]

Parameters for the spring damper formation control algorithms. More...

#include <FormationControl.h>

Inheritance diagram for SpringDampFormCtrlPar:

List of all members.

Public Member Functions
	SpringDampFormCtrlPar (Decimal selfDamp=10.0, Decimal neighDist=1.5, Decimal neighStiff=5.0, Decimal neighDamping=5.0, Time neighDataLifeTime=Time(0.1))
	Default constructor.
	SpringDampFormCtrlPar (const SpringDampFormCtrlPar &p)
	Copy constructor.
SpringDampFormCtrlPar &	operator= (const SpringDampFormCtrlPar &rhs)
	Assignment operator.
Decimal	selfDamping ()
	Gets the damping applied to the absolute velocity of the robot.
Decimal	neighborNeutrDist ()
	Gets the neutral distance of the link with the neighbors.
Decimal	neighborStiff ()
	Gets the stiffness of the link with the neighbors.
Decimal	neighborDamping ()
	Gets the damping of the link with the neighbors.
Time	neighDataLifeTime ()
	Gets the received data life time.
string	getObjectName () const
	Gets the name.

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Detailed Description

Parameters for the spring damper formation control algorithms.

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Constructor & Destructor Documentation

SpringDampFormCtrlPar::SpringDampFormCtrlPar	(	Decimal	selfDamp = 10.0,
		Decimal	neighDist = 1.5,
		Decimal	neighStiff = 5.0,
		Decimal	neighDamping = 5.0,
		Time	neighDataLifeTime = Time(0.1)
	)

Default constructor.

Parameters:

[in]	neighDist	Neutral distance for the neighbors.
[in]	neighStiff	Stiffness of the link with the neighbors.
[in]	neighDamping	Damping of the link with the neighbors.

SpringDampFormCtrlPar::SpringDampFormCtrlPar

(

const SpringDampFormCtrlPar &

p

)

Copy constructor.

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Member Function Documentation

SpringDampFormCtrlPar & SpringDampFormCtrlPar::operator=

(

const SpringDampFormCtrlPar &

rhs

)

Assignment operator.

Decimal SpringDampFormCtrlPar::selfDamping

(

)

Gets the damping applied to the absolute velocity of the robot.

Returns:

Damping applied to the absolute velocity of the robot.

Decimal SpringDampFormCtrlPar::neighborNeutrDist

(

)

Gets the neutral distance of the link with the neighbors.

Returns:

Neutral distance of the link with the neighbors.

Decimal SpringDampFormCtrlPar::neighborStiff

(

)

Gets the stiffness of the link with the neighbors.

Returns:

Stiffness of the link with the neighbors.

Decimal SpringDampFormCtrlPar::neighborDamping

(

)

Gets the damping of the link with the neighbors.

Returns:

Damping of the link with the neighbors.

Time SpringDampFormCtrlPar::neighDataLifeTime

(

)

Gets the received data life time.

Returns:

Received data life time.

string SpringDampFormCtrlPar::getObjectName

(

)

const [inline, virtual]

Gets the name.

Implements MIPObject.

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

• algorithms/FormationControl/FormationControl.h
• algorithms/FormationControl/FormationControl.cpp