#include "kinematics_exchanger.h"
Go to the source code of this file.
Functions | |
| float | acc_cos (float x, float y) |
| Accumulate cosines. More... | |
| float | acc_sin (float x, float y) |
| Accumulate sines. More... | |
| double | get_yaw () |
| Get the yaw orientation of the current pose. More... | |
| int | main (int argc, char **argv) |
| A ROS node that exchanges relative kinematics between CPSs in a swarm. More... | |
| void | pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg) |
| Callback function for position updates. More... | |
| cpswarm_msgs::Vector | rel_velocity (geometry_msgs::Vector3 v) |
| Compute the velocity difference of the CPS to a given velocity. More... | |
| void | swarm_position_callback (cpswarm_msgs::Position msg) |
| Callback function for position updates from other swarm members. More... | |
| void | swarm_velocity_callback (cpswarm_msgs::Velocity msg) |
| Callback function for velocity updates from other swarm members. More... | |
| void | vel_callback (const geometry_msgs::TwistStamped::ConstPtr &msg) |
| Callback function for velocity updates. More... | |
Function Documentation
◆ acc_cos()
| float acc_cos | ( | float | x, |
| float | y | ||
| ) |
Accumulate cosines.
- Parameters
-
x The sum to add to. y The value to compute the cosine for.
- Returns
- The sum including the cosine.
Definition at line 19 of file kinematics_exchanger.cpp.
◆ acc_sin()
| float acc_sin | ( | float | x, |
| float | y | ||
| ) |
Accumulate sines.
- Parameters
-
x The sum to add to. y The value to compute the sine for.
- Returns
- The sum including the sine.
Definition at line 9 of file kinematics_exchanger.cpp.
◆ get_yaw()
| double get_yaw | ( | ) |
Get the yaw orientation of the current pose.
- Returns
- The yaw angle of the given pose counterclockwise starting from x-axis/east.
Definition at line 27 of file kinematics_exchanger.cpp.
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
A ROS node that exchanges relative kinematics between CPSs in a swarm.
- Parameters
-
argc Number of command line arguments. argv Array of command line arguments.
- Returns
- Success.
Definition at line 166 of file kinematics_exchanger.cpp.
◆ pose_callback()
| void pose_callback | ( | const geometry_msgs::PoseStamped::ConstPtr & | msg | ) |
Callback function for position updates.
- Parameters
-
msg Position received from the CPS.
Definition at line 58 of file kinematics_exchanger.cpp.
◆ rel_velocity()
| cpswarm_msgs::Vector rel_velocity | ( | geometry_msgs::Vector3 | v | ) |
Compute the velocity difference of the CPS to a given velocity.
- Parameters
-
v The velocity to compare.
- Returns
- The velocity relative to the current velocity of the CPS as magnitude and direction.
Definition at line 39 of file kinematics_exchanger.cpp.
◆ swarm_position_callback()
| void swarm_position_callback | ( | cpswarm_msgs::Position | msg | ) |
Callback function for position updates from other swarm members.
- Parameters
-
msg The position received from another CPS.
Definition at line 85 of file kinematics_exchanger.cpp.
◆ swarm_velocity_callback()
| void swarm_velocity_callback | ( | cpswarm_msgs::Velocity | msg | ) |
Callback function for velocity updates from other swarm members.
- Parameters
-
msg The velocity received from another CPS.
Definition at line 130 of file kinematics_exchanger.cpp.
◆ vel_callback()
| void vel_callback | ( | const geometry_msgs::TwistStamped::ConstPtr & | msg | ) |
Callback function for velocity updates.
- Parameters
-
msg Velocity received from the CPS FCU.
Definition at line 72 of file kinematics_exchanger.cpp.