telekyb_behavior::Formation Class Reference

#include <Formation.hpp>

Inheritance diagram for telekyb_behavior::Formation:

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)
	Formation ()
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 ()
void	joystickCB (const sensor_msgs::Joy::ConstPtr &msg)
void	obsPointCB (const telekyb_msgs::StampedPointArray::ConstPtr &obsPointsMsg)
void	userVelocityCB (const geometry_msgs::Vector3Stamped::ConstPtr &msg)
Protected Attributes
bool	deadManPressed
std::vector< double >	distanceVector
std::vector < CoTanAttractiveGradient * >	formationAttractiveGradientVector
std::vector < CoTanRepulsiveGradient * >	formationRepulsiveGradientVector
ros::Subscriber	joySub
std::vector< Position3D >	lastObstaclePoints
Velocity3D	lastVelocityInput
ros::Subscriber	obsPointSub
ObstacleAvoidancePotential	obsPotential
Time	posModeLastInputTime
Option< double > *	tFormationAttrGain
Option< bool > *	tFormationDoYawControl
double	tFormationInitialYawAngle
Option< double > *	tFormationRepulGain
Option< double > *	tFormationRepulMinDist
Option< std::string > *	tJoystickTopic
Option< double > *	tMaxYawRate
Option< std::vector< int > > *	tNeighbors
Option< std::string > *	tObsPointsTopicName
Option< bool > *	tVelocityInputEnabled
Option< std::string > *	tVelocityInputTopic
ros::Subscriber	userInputSub
bool	valid
Position3D	virtualPoint

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Detailed Description

Definition at line 35 of file Formation.hpp.

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Constructor & Destructor Documentation

telekyb_behavior::Formation::Formation

(

)

Definition at line 25 of file Formation.cpp.

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Member Function Documentation

void telekyb_behavior::Formation::destroy

(

)

[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 121 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 240 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 261 of file Formation.cpp.

Velocity3D telekyb_behavior::Formation::getFormationVirtPointVel

(

)

[protected]

Definition at line 327 of file Formation.cpp.

void telekyb_behavior::Formation::initialize

(

)

[virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 70 of file Formation.cpp.

bool telekyb_behavior::Formation::isValid

(

const TKState &

currentState

)

const [virtual]

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 322 of file Formation.cpp.

void telekyb_behavior::Formation::joystickCB

(

const sensor_msgs::Joy::ConstPtr &

msg

)

[protected]

Definition at line 32 of file Formation.cpp.

void telekyb_behavior::Formation::obsPointCB

(

const telekyb_msgs::StampedPointArray::ConstPtr &

obsPointsMsg

)

[protected]

Definition at line 57 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 272 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 266 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 316 of file Formation.cpp.

void telekyb_behavior::Formation::userVelocityCB

(

const geometry_msgs::Vector3Stamped::ConstPtr &

msg

)

[protected]

Definition at line 46 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 126 of file Formation.cpp.

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

Implements TELEKYB_NAMESPACE::Behavior.

Definition at line 245 of file Formation.cpp.

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Member Data Documentation

bool telekyb_behavior::Formation::deadManPressed [protected]

Definition at line 76 of file Formation.hpp.

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

Definition at line 54 of file Formation.hpp.

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

Definition at line 98 of file Formation.hpp.

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

Definition at line 97 of file Formation.hpp.

ros::Subscriber telekyb_behavior::Formation::joySub [protected]

Definition at line 61 of file Formation.hpp.

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

Definition at line 48 of file Formation.hpp.

Velocity3D telekyb_behavior::Formation::lastVelocityInput [protected]

Definition at line 67 of file Formation.hpp.

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

Definition at line 62 of file Formation.hpp.

ObstacleAvoidancePotential telekyb_behavior::Formation::obsPotential [protected]

Definition at line 85 of file Formation.hpp.

Time telekyb_behavior::Formation::posModeLastInputTime [protected]

Definition at line 73 of file Formation.hpp.

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

Definition at line 89 of file Formation.hpp.

Option<bool>* telekyb_behavior::Formation::tFormationDoYawControl [protected]

Definition at line 91 of file Formation.hpp.

double telekyb_behavior::Formation::tFormationInitialYawAngle [protected]

Definition at line 93 of file Formation.hpp.

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

Definition at line 90 of file Formation.hpp.

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

Definition at line 88 of file Formation.hpp.

Option< std::string >* telekyb_behavior::Formation::tJoystickTopic [protected]

Definition at line 40 of file Formation.hpp.

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

Definition at line 51 of file Formation.hpp.

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

Definition at line 37 of file Formation.hpp.

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

Definition at line 47 of file Formation.hpp.

Option< bool >* telekyb_behavior::Formation::tVelocityInputEnabled [protected]

Definition at line 41 of file Formation.hpp.

Option< std::string >* telekyb_behavior::Formation::tVelocityInputTopic [protected]

Definition at line 42 of file Formation.hpp.

ros::Subscriber telekyb_behavior::Formation::userInputSub [protected]

Definition at line 60 of file Formation.hpp.

bool telekyb_behavior::Formation::valid [protected]

Definition at line 79 of file Formation.hpp.

Position3D telekyb_behavior::Formation::virtualPoint [protected]

Definition at line 57 of file Formation.hpp.

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

• Formation.hpp
• Formation.cpp