app2.h

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#ifndef APP2_H_
#define APP2_H_

#include "std_msgs/String.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/Twist.h"

#include "micros_swarm/micros_swarm.h"

namespace app2{
    
    struct XY;
    
    class App2 : public micros_swarm::Application
    {
        public:
            ros::Timer red_timer;
            ros::Timer blue_timer;
            ros::Publisher pub;
            ros::Subscriber sub;
            
            //app parameters
            int delta_kin;
            int epsilon_kin;
            int delta_nonkin;
            int epsilon_nonkin;
            
            App2();
            ~App2();
            virtual void init();
            virtual void start();
            virtual void stop();
            
            //app functions
            float force_mag_kin(float dist);
            float force_mag_nonkin(float dist);
            XY force_sum_kin(micros_swarm::NeighborBase n, XY &s);
            XY force_sum_nonkin(micros_swarm::NeighborBase n, XY &s);
            XY direction_red();
            XY direction_blue();
            bool red(int id);
            bool blue(int id);
            void motion_red();
            void motion_blue();
            void publish_red_cmd(const ros::TimerEvent&);
            void publish_blue_cmd(const ros::TimerEvent&);
            void baseCallback(const nav_msgs::Odometry& lmsg);  
    };
};

#endif