#include <map>
#include <vector>
#include <numeric>
#include <ros/ros.h>
#include <tf2/utils.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TwistStamped.h>
#include <cpswarm_msgs/ArrayOfPositions.h>
#include <cpswarm_msgs/Position.h>
#include <cpswarm_msgs/Velocity.h>
#include <cpswarm_msgs/ArrayOfVectors.h>
#include <cpswarm_msgs/VectorStamped.h>

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Classes
struct	cartesian_vector_t
	A vector type in Cartesian format containing UUID of the corresponding CPS together with last updated time stamp. More...

struct	polar_vector_t
	A vector type in polar format containing UUID of the corresponding CPS together with last updated time stamp. More...

Typedefs
typedef struct cartesian_vector_t	cartesian_vector_t
	A vector type in Cartesian format containing UUID of the corresponding CPS together with last updated time stamp. More...

typedef struct polar_vector_t	polar_vector_t
	A vector type in polar format containing UUID of the corresponding CPS together with last updated time stamp. More...

Variables
int	pos_init
	The number of position messages to ignore during initialization. This is because the first messages are inaccurate. More...

geometry_msgs::Pose	pose
	Current position of the CPS. More...

bool	pose_valid
	Whether a valid position has been received. More...

int	sample_size
	The number of data samples to average over for reliable results. More...

map< string, cartesian_vector_t >	swarm_positions
	The absolute positions of all known swarm members. More...

map< string, polar_vector_t >	swarm_positions_rel
	The relative positions of all known swarm members. More...

map< string, polar_vector_t >	swarm_velocities
	The velocities of all known swarm members. More...

int	vel_init
	The number of velocity messages to ignore during initialization. This is because the first messages are inaccurate. More...

bool	vel_valid
	Whether a valid velocity has been received. More...

geometry_msgs::Twist	velo
	Current velocity of the CPS. More...