uav_random_direction Class Reference

A class that allows to cover a given area with the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle. There, it changes its direction randomly. More...

#include <uav_random_direction.h>

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

Private Member Functions
bool	new_direction ()
	Compute new direction using rng. More...
bool	select_goal ()
	Compute goal position from direction. More...

Private Attributes
ServiceClient	area_client
	Service client to get the area polygon. More...
ServiceClient	clear_sector_client
	Service client for determining the sector clear of obstacles. More...
double	direction
	The direction in which the drone is travling. It is measured in radian, clockwise starting from north. More...
geometry_msgs::Pose	goal
	The current goal. More...
double	margin
	The distance in meter to keep to the environment boundary. More...
position	pos
	A helper object for position related tasks. More...
random_numbers::RandomNumberGenerator *	rng
	The random number generator used for selecting a random direction. More...

Detailed Description

A class that allows to cover a given area with the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle. There, it changes its direction randomly.

Definition at line 24 of file uav_random_direction.h.

Constructor & Destructor Documentation

uav_random_direction::uav_random_direction

(

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_random_direction.cpp.

uav_random_direction::~uav_random_direction

(

)

Destructor that deletes the private member objects.

Definition at line 36 of file lib/uav_random_direction.cpp.

Member Function Documentation

bool uav_random_direction::new_direction ( )

private

Compute new direction using rng.

Returns

Whether a a new direction could be set successfully.

Definition at line 120 of file lib/uav_random_direction.cpp.

bool uav_random_direction::select_goal ( )

private

Compute goal position from direction.

Returns

Whether the goal could be computed successfully.

Definition at line 75 of file lib/uav_random_direction.cpp.

behavior_state_t uav_random_direction::step

(

)

Move the swarm member to a new position.

Returns

Return the state of the coverage algorithm.

Definition at line 41 of file lib/uav_random_direction.cpp.

void uav_random_direction::stop

(

)

Stop moving.

Definition at line 70 of file lib/uav_random_direction.cpp.

Member Data Documentation

ServiceClient uav_random_direction::area_client

private

Service client to get the area polygon.

Definition at line 65 of file uav_random_direction.h.

ServiceClient uav_random_direction::clear_sector_client

private

Service client for determining the sector clear of obstacles.

Definition at line 70 of file uav_random_direction.h.

double uav_random_direction::direction

private

The direction in which the drone is travling. It is measured in radian, clockwise starting from north.

Definition at line 80 of file uav_random_direction.h.

geometry_msgs::Pose uav_random_direction::goal

private

The current goal.

Definition at line 85 of file uav_random_direction.h.

double uav_random_direction::margin

private

The distance in meter to keep to the environment boundary.

Definition at line 95 of file uav_random_direction.h.

position uav_random_direction::pos

private

A helper object for position related tasks.

Definition at line 75 of file uav_random_direction.h.

random_numbers::RandomNumberGenerator* uav_random_direction::rng

private

The random number generator used for selecting a random direction.

Definition at line 90 of file uav_random_direction.h.

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

• uav_random_direction.h
• lib/uav_random_direction.cpp