telekyb_behavior::FormationReconfiguration Class Reference

#include <FormationReconfiguration.hpp>

Inheritance diagram for telekyb_behavior::FormationReconfiguration:

List of all members.

Public Member Functions
virtual void	destroy ()
virtual void	didBecomeActive (const TKState &currentState, const Behavior &previousBehavior)
virtual void	didBecomeInActive (const TKState &currentState, const Behavior &nextBehavior)
	FormationReconfiguration ()
virtual void	initialize ()
virtual bool	isValid (const TKState &currentState) const
virtual void	trajectoryStepActive (const TKState &currentState, TKTrajectory &generatedTrajInput)
virtual void	trajectoryStepCreation (const TKState &currentState, TKTrajectory &generatedTrajInput)
virtual void	trajectoryStepTermination (const TKState &currentState, TKTrajectory &generatedTrajInput)
virtual bool	willBecomeActive (const TKState &currentState, const Behavior &previousBehavior)
virtual void	willBecomeInActive (const TKState &currentState, const Behavior &nextBehavior)
Protected Member Functions
Velocity3D	getFormationVirtPointVel ()
double	getMeanDistanceError () const
void	obsPointCB (const telekyb_msgs::StampedPointArray::ConstPtr &obsPointsMsg)
Protected Attributes
std::vector< double >	distanceVector
std::vector < CoTanAttractiveGradient * >	formationAttractiveGradientVector
std::vector < CoTanRepulsiveGradient * >	formationRepulsiveGradientVector
std::vector< Position3D >	lastObstaclePoints
ros::Subscriber	obsPointSub
ObstacleAvoidancePotential	obsPotential
Time	posModeLastInputTime
Option< double > *	tFormationAttrGain
Option< double > *	tFormationReconfFinalYawAngle
Option< double > *	tFormationRepulGain
Option< double > *	tFormationRepulMinDist
Option< double > *	tMaxYawRate
Option< std::vector< double > > *	tNeighborDistances
Option< std::vector< int > > *	tNeighbors
Option< std::string > *	tObsPointsTopicName
bool	valid
Position3D	virtualPoint

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Detailed Description

Definition at line 35 of file FormationReconfiguration.hpp.

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Constructor & Destructor Documentation

telekyb_behavior::FormationReconfiguration::FormationReconfiguration

(

)

Definition at line 25 of file FormationReconfiguration.cpp.

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Member Function Documentation

void telekyb_behavior::FormationReconfiguration::destroy

(

)

[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 83 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::didBecomeActive	(	const TKState &	currentState,
		const Behavior &	previousBehavior
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 206 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::didBecomeInActive	(	const TKState &	currentState,
		const Behavior &	nextBehavior
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 224 of file FormationReconfiguration.cpp.

Velocity3D telekyb_behavior::FormationReconfiguration::getFormationVirtPointVel

(

)

[protected]

Definition at line 319 of file FormationReconfiguration.cpp.

double telekyb_behavior::FormationReconfiguration::getMeanDistanceError

(

)

const [protected]

Definition at line 307 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::initialize

(

)

[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 45 of file FormationReconfiguration.cpp.

bool telekyb_behavior::FormationReconfiguration::isValid

(

const TKState &

currentState

)

const [virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 271 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::obsPointCB

(

const telekyb_msgs::StampedPointArray::ConstPtr &

obsPointsMsg

)

[protected]

Definition at line 32 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::trajectoryStepActive	(	const TKState &	currentState,
		TKTrajectory &	generatedTrajInput
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 235 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::trajectoryStepCreation	(	const TKState &	currentState,
		TKTrajectory &	generatedTrajInput
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 229 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::trajectoryStepTermination	(	const TKState &	currentState,
		TKTrajectory &	generatedTrajInput
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 265 of file FormationReconfiguration.cpp.

bool telekyb_behavior::FormationReconfiguration::willBecomeActive	(	const TKState &	currentState,
		const Behavior &	previousBehavior
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 88 of file FormationReconfiguration.cpp.

void telekyb_behavior::FormationReconfiguration::willBecomeInActive	(	const TKState &	currentState,
		const Behavior &	nextBehavior
	)		[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 211 of file FormationReconfiguration.cpp.

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Member Data Documentation

std::vector<double> telekyb_behavior::FormationReconfiguration::distanceVector [protected]

Definition at line 48 of file FormationReconfiguration.hpp.

std::vector< CoTanAttractiveGradient*> telekyb_behavior::FormationReconfiguration::formationAttractiveGradientVector [protected]

Definition at line 80 of file FormationReconfiguration.hpp.

std::vector< CoTanRepulsiveGradient*> telekyb_behavior::FormationReconfiguration::formationRepulsiveGradientVector [protected]

Definition at line 79 of file FormationReconfiguration.hpp.

std::vector<Position3D> telekyb_behavior::FormationReconfiguration::lastObstaclePoints [protected]

Definition at line 42 of file FormationReconfiguration.hpp.

ros::Subscriber telekyb_behavior::FormationReconfiguration::obsPointSub [protected]

Definition at line 54 of file FormationReconfiguration.hpp.

ObstacleAvoidancePotential telekyb_behavior::FormationReconfiguration::obsPotential [protected]

Definition at line 69 of file FormationReconfiguration.hpp.

Time telekyb_behavior::FormationReconfiguration::posModeLastInputTime [protected]

Definition at line 61 of file FormationReconfiguration.hpp.

Option<double>* telekyb_behavior::FormationReconfiguration::tFormationAttrGain [protected]

Definition at line 73 of file FormationReconfiguration.hpp.

Option<double>* telekyb_behavior::FormationReconfiguration::tFormationReconfFinalYawAngle [protected]

Definition at line 75 of file FormationReconfiguration.hpp.

Option<double>* telekyb_behavior::FormationReconfiguration::tFormationRepulGain [protected]

Definition at line 74 of file FormationReconfiguration.hpp.

Option<double>* telekyb_behavior::FormationReconfiguration::tFormationRepulMinDist [protected]

Definition at line 72 of file FormationReconfiguration.hpp.

Option<double>* telekyb_behavior::FormationReconfiguration::tMaxYawRate [protected]

Definition at line 45 of file FormationReconfiguration.hpp.

Option< std::vector<double> >* telekyb_behavior::FormationReconfiguration::tNeighborDistances [protected]

Definition at line 38 of file FormationReconfiguration.hpp.

Option< std::vector<int> >* telekyb_behavior::FormationReconfiguration::tNeighbors [protected]

Definition at line 37 of file FormationReconfiguration.hpp.

Option< std::string >* telekyb_behavior::FormationReconfiguration::tObsPointsTopicName [protected]

Definition at line 41 of file FormationReconfiguration.hpp.

bool telekyb_behavior::FormationReconfiguration::valid [protected]

Definition at line 65 of file FormationReconfiguration.hpp.

Position3D telekyb_behavior::FormationReconfiguration::virtualPoint [protected]

Definition at line 51 of file FormationReconfiguration.hpp.

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

• FormationReconfiguration.hpp
• FormationReconfiguration.cpp