FormationControl Class Reference
[Formation control algorithms]

#include <FormationControl.h>

Inheritance diagram for FormationControl:

List of all members.

Public Member Functions
	FormationControl (SpringDampFormCtrlPar &par)
	Constructor for implementing spring damper formation control algorithm.
	FormationControl (ArtPotentialFormCtrlPar &par)
	Constructor for implementing artificial potential formation control algorithm.
	FormationControl (int argc, const char **argv)
	Constructor for taking options from command line/file.
	~FormationControl ()
	Destructor.
void	run (SpringDampFormCtrlIn *input, FormationControlOut *output)
	Computes a step of the control for Spring Damper algortihm.
void	run (ArtPotentialFormCtrlIn *input, FormationControlOut *output)
	Computes a step of the control for artificial potential algorithm.
void	reset ()
	Resets the control for artificial potential algorithm.
Position3D	getInitPosition ()
	Computes a step of the control for artificial potential algorithm.
void	setLogFile (FILE *logFile)
FormationControlTypes	getType ()
	Gets the algortihm type.
string	getObjectName () const
	Gets the name.

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Detailed Description

Todo:

Implement the neighbor data with list<> instead of vectors for more efficiency

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Constructor & Destructor Documentation

FormationControl::FormationControl

(

SpringDampFormCtrlPar &

par

)

Constructor for implementing spring damper formation control algorithm.

Parameters:

[in]

par

Control constants.

FormationControl::FormationControl

(

ArtPotentialFormCtrlPar &

par

)

Constructor for implementing artificial potential formation control algorithm.

Parameters:

[in]	par	Control constants.
[in]	cM	Pointer to the inter-robot communication module.
[in]	initVP	Virtual point intial position.
[in]	currTime	Time of the initial position.

FormationControl::FormationControl	(	int	argc,
		const char **	argv
	)

Constructor for taking options from command line/file.

FormationControl::~FormationControl

(

)

Destructor.

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Member Function Documentation

void FormationControl::run	(	SpringDampFormCtrlIn *	input,
		FormationControlOut *	output
	)

Computes a step of the control for Spring Damper algortihm.

Parameters:

[in]	input	Current state.
[out]	output	Control commands.

< other robots positions

void FormationControl::run	(	ArtPotentialFormCtrlIn *	input,
		FormationControlOut *	output
	)

Computes a step of the control for artificial potential algorithm.

Parameters:

[in]	input	Current state.
[out]	output	Control commands.

void FormationControl::reset

(

)

Resets the control for artificial potential algorithm.

Position3D FormationControl::getInitPosition

(

)

Computes a step of the control for artificial potential algorithm.

Parameters:

[in]

origin

Origin position.

Returns:

Ideal initial position respect to the origin.

void FormationControl::setLogFile

(

FILE *

logFile

)

FormationControlTypes FormationControl::getType

(

)

[inline]

Gets the algortihm type.

Parameters:

[in]

Algorithm

type.

string FormationControl::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