gazebo_flocking.cpp File Reference

#include "gazebo_flocking/gazebo_flocking.h"
#include "hector_uav_msgs/EnableMotors.h"
#include <tf/tf.h>
#include <cmath>

Include dependency graph for gazebo_flocking.cpp:

Go to the source code of this file.

Classes
class	NeighborHandle

Namespaces
	gazebo_flocking

Macros
#define	A   5
#define	B   5
#define	C1   0.3
#define	C2   0.6
#define	D   7
#define	EPSILON   0.1
#define	H   0.2
#define	R   9
#define	speedlimit   2

Functions
double	a_ij (pair< double, double > j_p)
pair< double, double >	f_d ()
pair< double, double >	f_g ()
pair< double, double >	f_r ()
pair< double, double >	get_vector (pair< double, double > start, pair< double, double > end)
double	phi (double z)
double	phi_alpha (double z)
double	rho (double z)
double	segma_1 (double z)
pair< double, double >	segma_epsilon (pair< double, double > v)
double	segma_norm (pair< double, double > v)
bool	gazebo_flocking::test_location (float a, float b, float x, float y)

Variables
const double	C = abs(A-B) / sqrt(4*A*B)
double	D_alpha = segma_norm(pair<double,double>(D,0))
double	interval = 0.1
pair< double, double >	my_position =pair<double,double>(0,0)
double	my_theta = 0
pair< double, double >	my_velocity =pair<double,double>(0,0)
static list< NeighborHandle * >	neighbor_list
pair< double, double >	p_r = pair<double,double>(3,0)
double	PI =acos(-1)
double	pm1 =0.3
double	pm2 =1
double	pm3 =0.3
pair< double, double >	q_r = pair<double,double>(-40,-40)
double	R_alpha = segma_norm(pair<double,double>(R,0))
int	gazebo_flocking::vel_loop_count =0

Detailed Description

Software License Agreement (BSD)

Authors

Xuefeng Chang chang.nosp@m.xuef.nosp@m.engcn.nosp@m.@163.nosp@m..com

Copyright

Copyright (c) 2016, the micROS Team, HPCL (National University of Defense Technology), All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of micROS Team, HPCL, nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file gazebo_flocking.cpp.

Macro Definition Documentation

#define A   5

Definition at line 31 of file gazebo_flocking.cpp.

#define B   5

Definition at line 32 of file gazebo_flocking.cpp.

#define C1   0.3

Definition at line 37 of file gazebo_flocking.cpp.

#define C2   0.6

Definition at line 38 of file gazebo_flocking.cpp.

#define D   7

Definition at line 35 of file gazebo_flocking.cpp.

#define EPSILON   0.1

Definition at line 30 of file gazebo_flocking.cpp.

#define H   0.2

Definition at line 34 of file gazebo_flocking.cpp.

#define R   9

Definition at line 36 of file gazebo_flocking.cpp.

#define speedlimit   2

Definition at line 39 of file gazebo_flocking.cpp.

Function Documentation

double a_ij

(

pair< double, double >

j_p

)

Definition at line 136 of file gazebo_flocking.cpp.

pair<double,double> f_d

(

)

Definition at line 141 of file gazebo_flocking.cpp.

pair<double,double> f_g

(

)

Definition at line 123 of file gazebo_flocking.cpp.

pair<double,double> f_r

(

)

Definition at line 156 of file gazebo_flocking.cpp.

pair<double,double> get_vector	(	pair< double, double >	start,
		pair< double, double >	end
	)

Definition at line 70 of file gazebo_flocking.cpp.

double phi

(

double

z

)

Definition at line 104 of file gazebo_flocking.cpp.

double phi_alpha

(

double

z

)

Definition at line 118 of file gazebo_flocking.cpp.

double rho

(

double

z

)

Definition at line 109 of file gazebo_flocking.cpp.

double segma_1

(

double

z

)

Definition at line 99 of file gazebo_flocking.cpp.

pair<double,double> segma_epsilon

(

pair< double, double >

v

)

Definition at line 89 of file gazebo_flocking.cpp.

double segma_norm

(

pair< double, double >

v

)

Definition at line 78 of file gazebo_flocking.cpp.

Variable Documentation

const double C = abs(A-B) / sqrt(4*A*B)

Definition at line 33 of file gazebo_flocking.cpp.

double D_alpha = segma_norm(pair<double,double>(D,0))

Definition at line 87 of file gazebo_flocking.cpp.

double interval = 0.1

Definition at line 153 of file gazebo_flocking.cpp.

pair<double,double> my_position =pair<double,double>(0,0)

Definition at line 67 of file gazebo_flocking.cpp.

double my_theta = 0

Definition at line 28 of file gazebo_flocking.cpp.

pair<double,double> my_velocity =pair<double,double>(0,0)

Definition at line 68 of file gazebo_flocking.cpp.

list<NeighborHandle*> neighbor_list

static

Definition at line 66 of file gazebo_flocking.cpp.

pair<double,double> p_r = pair<double,double>(3,0)

Definition at line 154 of file gazebo_flocking.cpp.

double PI =acos(-1)

Definition at line 29 of file gazebo_flocking.cpp.

double pm1 =0.3

Definition at line 41 of file gazebo_flocking.cpp.

double pm2 =1

Definition at line 41 of file gazebo_flocking.cpp.

double pm3 =0.3

Definition at line 41 of file gazebo_flocking.cpp.

pair<double,double> q_r = pair<double,double>(-40,-40)

Definition at line 155 of file gazebo_flocking.cpp.

double R_alpha = segma_norm(pair<double,double>(R,0))

Definition at line 86 of file gazebo_flocking.cpp.