uav_local_coverage.h
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1 #ifndef UAV_LOCAL_COVERAGE_H
2 #define UAV_LOCAL_COVERAGE_H
3 
4 #include <position.h>
5 
6 using namespace std;
7 using namespace ros;
8 
12 typedef enum {
17 
22 {
23 public:
28 
33  behavior_state_t step();
34 
35 private:
41  void compute_involute (double &distance, double &direction);
42 
47  geometry_msgs::Pose select_goal ();
48 
52  position pos;
53 
57  double altitude;
58 
62  double fov_hor;
63 
67  double fov_ver;
68 
72  geometry_msgs::Pose origin;
73 
77  unsigned int steps;
78 
82  int max_steps;
83 
84 
85 };
86 
87 #endif // UAV_LOCAL_COVERAGE_H
unsigned int steps
Number of steps performed in the local search.
double fov_hor
Horizontal camera field of view in radian.
double altitude
The altitude of the UAV above ground.
A class that allows to cover a given area using a local search algorithm. The local search performs a...
double fov_ver
Vertical camera field of view in radian.
geometry_msgs::Pose origin
Center of the spiral movement search pattern.
behavior_state_t
An enumeration for the state of the behavior algorithm.
position pos
A helper object for position related tasks.
int max_steps
Maximum number of steps to do in the local search.


uav_local_coverage
Author(s): Micha Sende
autogenerated on Sun Dec 29 2019 10:25:43