An algorithm for moving in formation. More...

#include <FormationFlying.h>

Inheritance diagram for gams::algorithms::FormationFlying:

Classes
struct	Compiled
	formation wait string More...

Public Member Functions
	FormationFlying (const std::string &head_id, const std::vector< double > &offset, const std::vector< double > &destination, const std::string &group_name, const std::string &modifier, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~FormationFlying ()
	Destructor. More...

virtual int	analyze (void)
	Analyzes environment, platform, or other information. More...

virtual int	execute (void)
	Plans the next execution of the algorithm. More...

variables::Agents *	get_agents (void)
	Gets the list of agents. More...

variables::AlgorithmStatus *	get_algorithm_status (void)
	Gets algorithm status variables. More...

madara::knowledge::KnowledgeBase *	get_knowledge_base (void)
	Gets the knowledge base. More...

platforms::BasePlatform *	get_platform (void)
	Gets the platform. More...

variables::Self *	get_self (void)
	Gets self-defined variables. More...

variables::Sensors *	get_sensors (void)
	Gets the available sensor information. More...

bool	is_head () const
	Return true if this agent is head. More...

bool	is_ready () const
	Get ready value. More...

void	operator= (const FormationFlying &rhs)
	Assignment operator. More...

virtual int	plan (void)
	Plans the next execution of the algorithm. More...

virtual void	set_agents (variables::Agents *agents)
	Sets the list of agents in the swarm. More...

virtual void	set_platform (platforms::BasePlatform *platform)
	Sets the platform. More...

virtual void	set_self (variables::Self *self)
	Sets the map of sensor names to sensor information. More...

virtual void	set_sensors (variables::Sensors *sensors)
	Sets the map of sensor names to sensor information. More...

Protected Types
enum	{ NONE , ROTATE }
	modifier enum More...

Protected Member Functions
pose::Position	get_destination () const
	Get head's destination. More...

Protected Attributes
variables::Agents *	agents_
	the list of agents potentially participating in the algorithm More...

std::vector< Compiled >	compiled_formation_

pose::Position	destination_
	destination as Position More...

unsigned int	executions_
	number of executions More...

madara::knowledge::containers::Integer	formation_ready_
	are we in formation? More...

bool	head_
	am i the head? More...

madara::knowledge::containers::NativeDoubleArray	head_destination_
	head destination More...

int	head_id_
	head id More...

madara::knowledge::containers::NativeDoubleArray	head_location_
	head location More...

madara::knowledge::containers::Integer	in_formation_
	am i in formation? More...

madara::knowledge::KnowledgeBase *	knowledge_
	provides access to the knowledge base More...

enum gams::algorithms::FormationFlying:: { ... }	modifier_
	modifier enum More...

bool	need_to_move_
	do we need to move? More...

pose::Position	next_position_
	next position More...

unsigned int	num_agents_
	number of agents in formation; only head_id_ needs to know this More...

double	phi_
	angular formation offsets More...

double	phi_dir_
	directional angular formation offsets More...

platforms::BasePlatform *	platform_
	provides access to the platform More...

double	rho_
	planar distance formation offsets More...

variables::Self *	self_
	the algorithm's concept of self More...

variables::SensorNames	sensor_names_
	list of sensor names More...

variables::Sensors *	sensors_
	provides access to sensor information More...

variables::AlgorithmStatus	status_
	provides access to status information for this platform More...

double	z_
	altitude formation offsets More...

Detailed Description

An algorithm for moving in formation.

Definition at line 73 of file FormationFlying.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protected

modifier enum

Enumerator
NONE
ROTATE

Definition at line 178 of file FormationFlying.h.

Constructor & Destructor Documentation

◆ FormationFlying()

gams::algorithms::FormationFlying::FormationFlying	(	const std::string &	head_id,
		const std::vector< double > &	offset,
		const std::vector< double > &	destination,
		const std::string &	group_name,
		const std::string &	modifier,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

head_id	target of the formation
offset	offset of formation
destination	destination of the formation
group_name	group identifier(e.g. group.group1)
modifier	modifier that influences the formation
knowledge	the context containing variables and values
platform	the underlying platform the algorithm will use
sensors	map of sensor names to sensor information
self	self-referencing variables

◆ ~FormationFlying()

gams::algorithms::FormationFlying::~FormationFlying ( )

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::FormationFlying::analyze ( void )

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ execute()

virtual int gams::algorithms::FormationFlying::execute ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ get_agents()

variables::Agents* gams::algorithms::BaseAlgorithm::get_agents ( void )

inherited

Gets the list of agents.

◆ get_algorithm_status()

variables::AlgorithmStatus* gams::algorithms::BaseAlgorithm::get_algorithm_status ( void )

inherited

Gets algorithm status variables.

◆ get_destination()

pose::Position gams::algorithms::FormationFlying::get_destination ( ) const

protected

Get head's destination.

Returns: utility::Position object of head's destination

◆ get_knowledge_base()

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::get_knowledge_base ( void )

inherited

Gets the knowledge base.

◆ get_platform()

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::get_platform ( void )

inherited

Gets the platform.

◆ get_self()

variables::Self* gams::algorithms::BaseAlgorithm::get_self ( void )

inherited

Gets self-defined variables.

◆ get_sensors()

variables::Sensors* gams::algorithms::BaseAlgorithm::get_sensors ( void )

inherited

Gets the available sensor information.

◆ is_head()

bool gams::algorithms::FormationFlying::is_head ( ) const

Return true if this agent is head.

◆ is_ready()

bool gams::algorithms::FormationFlying::is_ready ( ) const

Get ready value.

Returns: true if agents are in formation, false otherwise

◆ operator=()

void gams::algorithms::FormationFlying::operator= ( const FormationFlying & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::FormationFlying::plan ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ set_agents()

virtual void gams::algorithms::BaseAlgorithm::set_agents ( variables::Agents * agents )

virtualinherited

Sets the list of agents in the swarm.

Parameters

agents list of agents

◆ set_platform()

virtual void gams::algorithms::BaseAlgorithm::set_platform ( platforms::BasePlatform * platform )

virtualinherited

Sets the platform.

Parameters

platform the underlying platform the algorithm will use

◆ set_self()

virtual void gams::algorithms::BaseAlgorithm::set_self ( variables::Self * self )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

self	pointer to self-referencing variables container

◆ set_sensors()

virtual void gams::algorithms::BaseAlgorithm::set_sensors ( variables::Sensors * sensors )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

sensors map of sensor names to sensor information

Member Data Documentation

◆ agents_

variables::Agents* gams::algorithms::BaseAlgorithm::agents_

protectedinherited

the list of agents potentially participating in the algorithm

Definition at line 201 of file BaseAlgorithm.h.

◆ compiled_formation_

std::vector<Compiled> gams::algorithms::FormationFlying::compiled_formation_

protected

Definition at line 154 of file FormationFlying.h.

◆ destination_

pose::Position gams::algorithms::FormationFlying::destination_

protected

destination as Position

Definition at line 172 of file FormationFlying.h.

◆ executions_

unsigned int gams::algorithms::BaseAlgorithm::executions_

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ formation_ready_

madara::knowledge::containers::Integer gams::algorithms::FormationFlying::formation_ready_

protected

are we in formation?

Definition at line 157 of file FormationFlying.h.

◆ head_

bool gams::algorithms::FormationFlying::head_

protected

am i the head?

Definition at line 160 of file FormationFlying.h.

◆ head_destination_

madara::knowledge::containers::NativeDoubleArray gams::algorithms::FormationFlying::head_destination_

protected

head destination

Definition at line 169 of file FormationFlying.h.

◆ head_id_

int gams::algorithms::FormationFlying::head_id_

protected

head id

Definition at line 163 of file FormationFlying.h.

◆ head_location_

madara::knowledge::containers::NativeDoubleArray gams::algorithms::FormationFlying::head_location_

protected

head location

Definition at line 166 of file FormationFlying.h.

◆ in_formation_

madara::knowledge::containers::Integer gams::algorithms::FormationFlying::in_formation_

protected

am i in formation?

Definition at line 175 of file FormationFlying.h.

◆ knowledge_

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::knowledge_

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆

enum { ... } gams::algorithms::FormationFlying::modifier_

modifier enum

◆ need_to_move_

bool gams::algorithms::FormationFlying::need_to_move_

protected

do we need to move?

Definition at line 185 of file FormationFlying.h.

◆ next_position_

pose::Position gams::algorithms::FormationFlying::next_position_

protected

next position

Definition at line 188 of file FormationFlying.h.

◆ num_agents_

unsigned int gams::algorithms::FormationFlying::num_agents_

protected

number of agents in formation; only head_id_ needs to know this

Definition at line 191 of file FormationFlying.h.

◆ phi_

double gams::algorithms::FormationFlying::phi_

protected

angular formation offsets

Definition at line 194 of file FormationFlying.h.

◆ phi_dir_

double gams::algorithms::FormationFlying::phi_dir_

protected

directional angular formation offsets

Definition at line 197 of file FormationFlying.h.

◆ platform_

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::platform_

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

◆ rho_

double gams::algorithms::FormationFlying::rho_

protected

planar distance formation offsets

Definition at line 200 of file FormationFlying.h.

◆ self_

variables::Self* gams::algorithms::BaseAlgorithm::self_

protectedinherited

the algorithm's concept of self

Definition at line 213 of file BaseAlgorithm.h.

◆ sensor_names_

variables::SensorNames gams::algorithms::FormationFlying::sensor_names_

protected

list of sensor names

Definition at line 203 of file FormationFlying.h.

◆ sensors_

variables::Sensors* gams::algorithms::BaseAlgorithm::sensors_

protectedinherited

provides access to sensor information

Definition at line 216 of file BaseAlgorithm.h.

◆ status_

variables::AlgorithmStatus gams::algorithms::BaseAlgorithm::status_

protectedinherited

provides access to status information for this platform

Definition at line 219 of file BaseAlgorithm.h.

◆ z_

double gams::algorithms::FormationFlying::z_

protected

altitude formation offsets

Definition at line 206 of file FormationFlying.h.

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

src/gams/algorithms/FormationFlying.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ FormationFlying()

◆ ~FormationFlying()

Member Function Documentation

◆ analyze()

◆ execute()

◆ get_agents()

◆ get_algorithm_status()

◆ get_destination()

◆ get_knowledge_base()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ is_head()

◆ is_ready()

◆ operator=()

◆ plan()

◆ set_agents()

◆ set_platform()

◆ set_self()

◆ set_sensors()

Member Data Documentation

◆ agents_

◆ compiled_formation_

◆ destination_

◆ executions_

◆ formation_ready_

◆ head_

◆ head_destination_

◆ head_id_

◆ head_location_

◆ in_formation_

◆ knowledge_

◆

◆ need_to_move_

◆ next_position_

◆ num_agents_

◆ phi_

◆ phi_dir_

◆ platform_

◆ rho_

◆ self_

◆ sensor_names_

◆ sensors_

◆ status_

◆ z_