check_neighbor.cpp

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#include "micros_swarm/check_neighbor.h"

namespace micros_swarm{

    CheckNeighbor::CheckNeighbor(const float& neighbor_distance):neighbor_distance_(neighbor_distance) {}

    float CheckNeighbor::getNeighborDistance()
    {
        return neighbor_distance_;
    }

    bool CheckNeighbor::isNeighbor(const Base& self, const Base& neighbor)
    {
        float distance = sqrt((self.x-neighbor.x)*(self.x-neighbor.x)+(self.y-neighbor.y)*(self.y-neighbor.y)+
                              (self.z-neighbor.z)*(self.z-neighbor.z));

        if(distance <= (neighbor_distance_))
            return true;

        return false;
    }
};