#include <FormationControl.h>
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. |
FormationControl::FormationControl | ( | SpringDampFormCtrlPar & | par | ) |
Constructor for implementing spring damper formation control algorithm.
[in] | par | Control constants. |
FormationControl::FormationControl | ( | ArtPotentialFormCtrlPar & | par | ) |
Constructor for implementing artificial potential formation control algorithm.
[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.
void FormationControl::run | ( | SpringDampFormCtrlIn * | input, | |
FormationControlOut * | output | |||
) |
Computes a step of the control for Spring Damper algortihm.
[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.
[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.
[in] | origin | Origin position. |
void FormationControl::setLogFile | ( | FILE * | logFile | ) |
FormationControlTypes FormationControl::getType | ( | ) | [inline] |
Gets the algortihm type.
[in] | Algorithm | type. |
string FormationControl::getObjectName | ( | ) | const [inline, virtual] |