kinematics_exchanger.h

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#ifndef KINEMATICS_EXCHANGER_H
#define KINEMATICS_EXCHANGER_H

#include <map>
#include <vector>
#include <numeric>
#include <ros/ros.h>
#include <tf2/utils.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TwistStamped.h>
#include <cpswarm_msgs/ArrayOfPositions.h>
#include <cpswarm_msgs/Position.h>
#include <cpswarm_msgs/Velocity.h>
#include <cpswarm_msgs/ArrayOfVectors.h>
#include <cpswarm_msgs/VectorStamped.h>

using namespace std;
using namespace ros;

typedef struct polar_vector_t {
    string uuid;
    vector<float> mag;
    vector<float> dir;
    Time stamp;
} polar_vector_t;

typedef struct cartesian_vector_t {
    string uuid;
    vector<float> x;
    vector<float> y;
    Time stamp;
} cartesian_vector_t;

geometry_msgs::Pose pose;

bool pose_valid;

geometry_msgs::Twist velo;

bool vel_valid;

map<string, cartesian_vector_t> swarm_positions;

map<string, polar_vector_t> swarm_positions_rel;

map<string, polar_vector_t> swarm_velocities;

int sample_size;

int pos_init;

int vel_init;

#endif // KINEMATICS_EXCHANGER_H