testscdspso.h

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#ifndef TESTSCDSPSO_H_
#define TESTSCDSPSO_H_

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

#include "micros_swarm/scds_pso.h"
#include "micros_swarm/micros_swarm.h"

namespace testscdspso{
    
    class TestSCDSPSO : public micros_swarm::Application
    {
        public:
            ros::Timer timer;
            ros::Publisher pub;
            ros::Subscriber sub;

            micros_swarm::Agent agent;
            micros_swarm::SCDSPSOTuple tuple;
            void loop(const ros::TimerEvent&);
            void baseCallback(const nav_msgs::Odometry& lmsg);

            float fitness(const std::vector<float>& vec);

            TestSCDSPSO();
            ~TestSCDSPSO();
            virtual void init();
            virtual void start();
            virtual void stop();
    };
};

#endif