uav_optimal_coverage Class Reference

A class that allows to cover a given area optimally with a swarm of cyber physical systems (CPSs). The area is divided among the CPSs and each CPS covers its part by simple back and forth (boustrophedon) motion. More...

#include <uav_optimal_coverage.h>

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

Private Attributes
cpswarm_msgs::GetWaypoint	get_wp
	Service message to get the current waypoint. More...
position	pos
	A helper object for position related tasks. More...
geometry_msgs::Point	waypoint
	Current waypoint to navigate to. More...
ServiceClient	wp_getter
	Service client to get the current waypoint to navigate to. More...

Detailed Description

A class that allows to cover a given area optimally with a swarm of cyber physical systems (CPSs). The area is divided among the CPSs and each CPS covers its part by simple back and forth (boustrophedon) motion.

Definition at line 23 of file uav_optimal_coverage.h.

Constructor & Destructor Documentation

uav_optimal_coverage::uav_optimal_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_optimal_coverage.cpp.

uav_optimal_coverage::~uav_optimal_coverage

(

)

Destructor that deletes the private member objects.

Definition at line 19 of file lib/uav_optimal_coverage.cpp.

Member Function Documentation

behavior_state_t uav_optimal_coverage::step

(

)

Move the swarm member to a new position.

Returns

Return the state of the coverage algorithm.

Definition at line 23 of file lib/uav_optimal_coverage.cpp.

void uav_optimal_coverage::stop

(

)

Stop moving.

Definition at line 60 of file lib/uav_optimal_coverage.cpp.

Member Data Documentation

cpswarm_msgs::GetWaypoint uav_optimal_coverage::get_wp

private

Service message to get the current waypoint.

Definition at line 62 of file uav_optimal_coverage.h.

position uav_optimal_coverage::pos

private

A helper object for position related tasks.

Definition at line 67 of file uav_optimal_coverage.h.

geometry_msgs::Point uav_optimal_coverage::waypoint

private

Current waypoint to navigate to.

Definition at line 57 of file uav_optimal_coverage.h.

ServiceClient uav_optimal_coverage::wp_getter

private

Service client to get the current waypoint to navigate to.

Definition at line 52 of file uav_optimal_coverage.h.

---

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

• uav_optimal_coverage.h
• lib/uav_optimal_coverage.cpp