app1.h

Go to the documentation of this file.

#ifndef APP1_H_
#define APP1_H_

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

#include "micros_swarm/micros_swarm.h"

namespace app1{
    
    struct XY;
    
    class App1 : public micros_swarm::Application
    {
        public:
            ros::Timer timer;
            ros::Publisher pub;
            ros::Subscriber sub;
            
            //app parameters
            int delta;
            int epsilon;
            
            App1();
            ~App1();
            virtual void init();
            virtual void start();
            virtual void stop();
            
            //app functions
            float force_mag(float dist);
            XY force_sum(micros_swarm::NeighborBase n, XY &s);
            XY direction();
            void motion();
            void publish_cmd(const ros::TimerEvent&);
            void baseCallback(const nav_msgs::Odometry& lmsg);  
    };
};

#endif