uav_local_coverage Class Reference

A class that allows to cover a given area using a local search algorithm. The local search performs a spiral movement pattern according to the circle involute (http://mathworld.wolfram.com/CircleInvolute.html). More...

#include <uav_local_coverage.h>

Public Member Functions
behavior_state_t	step ()
	Move the swarm member to a new position. More...
void	stop ()
	Stop moving. More...
	uav_local_coverage (double altitude)
	Constructor that initializes the private member variables. More...

Private Member Functions
void	compute_involute (double &distance, double &direction)
	Compute local coordinates on circle involute for current step. More...
geometry_msgs::Pose	select_goal ()
	Compute goal position. More...

Private Attributes
double	altitude
	The altitude of the UAV above ground. More...
double	fov_hor
	Horizontal camera field of view in radian. More...
double	fov_ver
	Vertical camera field of view in radian. More...
int	max_steps
	Maximum number of steps to do in the local search. More...
geometry_msgs::Pose	origin
	Center of the spiral movement search pattern. More...
position	pos
	A helper object for position related tasks. More...
unsigned int	steps
	Number of steps performed in the local search. More...

Detailed Description

A class that allows to cover a given area using a local search algorithm. The local search performs a spiral movement pattern according to the circle involute (http://mathworld.wolfram.com/CircleInvolute.html).

Definition at line 21 of file uav_local_coverage.h.

Constructor & Destructor Documentation

uav_local_coverage::uav_local_coverage

(

double

altitude

)

Constructor that initializes the private member variables.

Parameters

altitude

The altitude at which the CPS operates.

Definition at line 3 of file lib/uav_local_coverage.cpp.

Member Function Documentation

void uav_local_coverage::compute_involute ( double &  distance, double &  direction  )

private

Compute local coordinates on circle involute for current step.

Parameters

distance	Returns distance from local origin.
direction	Returns direction from local origin.

Definition at line 51 of file lib/uav_local_coverage.cpp.

geometry_msgs::Pose uav_local_coverage::select_goal ( )

private

Compute goal position.

Returns

The selected goal.

Definition at line 68 of file lib/uav_local_coverage.cpp.

behavior_state_t uav_local_coverage::step

(

)

Move the swarm member to a new position.

Returns

Return the state of the coverage algorithm.

Definition at line 24 of file lib/uav_local_coverage.cpp.

void uav_local_coverage::stop

(

)

Stop moving.

Definition at line 78 of file lib/uav_local_coverage.cpp.

Member Data Documentation

double uav_local_coverage::altitude

private

The altitude of the UAV above ground.

Definition at line 63 of file uav_local_coverage.h.

double uav_local_coverage::fov_hor

private

Horizontal camera field of view in radian.

Definition at line 68 of file uav_local_coverage.h.

double uav_local_coverage::fov_ver

private

Vertical camera field of view in radian.

Definition at line 73 of file uav_local_coverage.h.

int uav_local_coverage::max_steps

private

Maximum number of steps to do in the local search.

Definition at line 88 of file uav_local_coverage.h.

geometry_msgs::Pose uav_local_coverage::origin

private

Center of the spiral movement search pattern.

Definition at line 78 of file uav_local_coverage.h.

position uav_local_coverage::pos

private

A helper object for position related tasks.

Definition at line 58 of file uav_local_coverage.h.

unsigned int uav_local_coverage::steps

private

Number of steps performed in the local search.

Definition at line 83 of file uav_local_coverage.h.

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The documentation for this class was generated from the following files:

• uav_local_coverage.h
• lib/uav_local_coverage.cpp