uav_optimal_coverage Class Reference

A class that allows to cover a given area optimally with a swarm of cyber physical systems (CPSs). The area is divided among the CPSs and each CPS covers its part by simple back and forth (boustrophedon) motion. More...

#include <uav_optimal_coverage.h>

Public Member Functions
behavior_state_t	step ()
	Move the swarm member to a new position. More...
void	stop ()
	Stop moving. More...
	uav_optimal_coverage ()
	Constructor that initializes the private member variables. More...
	~uav_optimal_coverage ()
	Destructor that deletes the private member objects. More...

Private Attributes
cpswarm_msgs::GetWaypoint	get_wp
	Service message to get the current waypoint. More...
position	pos
	A helper object for position related tasks. More...
behavior_state_t	state
	The state of the behavior algorithm. More...
double	target_velocity
	Target velocity of the UAV. More...
double	tolerance
velocity	vel
	A helper object for velocity related tasks. More...
geometry_msgs::Point	waypoint
	Current waypoint to navigate to. More...
ServiceClient	wp_getter
	Service client to get the current waypoint to navigate to. More...

Detailed Description

A class that allows to cover a given area optimally with a swarm of cyber physical systems (CPSs). The area is divided among the CPSs and each CPS covers its part by simple back and forth (boustrophedon) motion.

Definition at line 24 of file uav_optimal_coverage.h.

Constructor & Destructor Documentation

uav_optimal_coverage()

uav_optimal_coverage::uav_optimal_coverage

(

)

Constructor that initializes the private member variables.

Definition at line 3 of file lib/uav_optimal_coverage.cpp.

~uav_optimal_coverage()

uav_optimal_coverage::~uav_optimal_coverage

(

)

Destructor that deletes the private member objects.

Definition at line 32 of file lib/uav_optimal_coverage.cpp.

Member Function Documentation

step()

behavior_state_t uav_optimal_coverage::step

(

)

Move the swarm member to a new position.

Returns

Return the state of the coverage algorithm.

Definition at line 36 of file lib/uav_optimal_coverage.cpp.

stop()

void uav_optimal_coverage::stop

(

)

Stop moving.

Definition at line 87 of file lib/uav_optimal_coverage.cpp.

Member Data Documentation

get_wp

cpswarm_msgs::GetWaypoint uav_optimal_coverage::get_wp

private

Service message to get the current waypoint.

Definition at line 62 of file uav_optimal_coverage.h.

pos

position uav_optimal_coverage::pos

private

A helper object for position related tasks.

Definition at line 72 of file uav_optimal_coverage.h.

state

behavior_state_t uav_optimal_coverage::state

private

The state of the behavior algorithm.

Definition at line 67 of file uav_optimal_coverage.h.

target_velocity

double uav_optimal_coverage::target_velocity

private

Target velocity of the UAV.

Definition at line 82 of file uav_optimal_coverage.h.

tolerance

double uav_optimal_coverage::tolerance

private

The distance to the current waypoint below which the next waypoint of the path is selected.

Definition at line 87 of file uav_optimal_coverage.h.

vel

velocity uav_optimal_coverage::vel

private

A helper object for velocity related tasks.

Definition at line 77 of file uav_optimal_coverage.h.

waypoint

geometry_msgs::Point uav_optimal_coverage::waypoint

private

Current waypoint to navigate to.

Definition at line 57 of file uav_optimal_coverage.h.

wp_getter

ServiceClient uav_optimal_coverage::wp_getter

private

Service client to get the current waypoint to navigate to.

Definition at line 52 of file uav_optimal_coverage.h.

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

• uav_optimal_coverage.h
• lib/uav_optimal_coverage.cpp