olfati_saber_flocking.h

Go to the documentation of this file.

#ifndef OLFATI_SABER_FLOCKING_H_
#define OLFATI_SABER_FLOCKING_H_

#include <string>
#include <list>
#include <vector>
#include <iostream>
#include <utility>
#include <cmath>
#include <ctime>

#include <std_msgs/String.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>

#include "micros_swarm/micros_swarm.h"

namespace olfati_saber_flocking{

    class OlfatiSaberFlocking : public micros_swarm::Application
    {
    public:
        ros::Timer timer;
        ros::Publisher pub;
        ros::Subscriber sub;

        int hz;
        double interval;

        OlfatiSaberFlocking();
        ~OlfatiSaberFlocking();
        virtual void init();
        virtual void start();
        virtual void stop();

        //app functions
        void publish_cmd(const ros::TimerEvent&);
        void baseCallback(const nav_msgs::Odometry& lmsg);
    };
};

#endif