Jafar: modules/ride/include/ride/distCtrl.hpp Source File

00001 #ifndef RIDE_DIST_CTRL_HPP
00002 #define RIDE_DIST_CTRL_HPP
00003 
00004 
00005 //#include "kernel/jafarException.hpp"
00006 //#include "ride/rideException.hpp"
00007 #include "ride/formation.hpp"
00008 #include "ride/trajectory.hpp"
00009 #include <list>
00010 
00011 namespace jafar {
00012 
00013     namespace ride {
00014 
00028         struct formParam {
00029             double Dmin;
00030             double a;
00031             double b;
00032             double c;
00033             double f;
00034             double e;
00035             double v;
00036             double dTimeMax;
00037         };
00038 
00043         struct formCmd {
00044             double dx;
00045             double dy;
00046             double dspeed;
00047             double dheading;
00048             double dalt;
00049         };
00050 
00055         struct formExtraState {
00056             double x;
00057             double y;
00058             double z;
00059         };
00060 
00065         formCmd computeDistCtrl(int uavId, Formation const& formation, formParam const& param, std::list<formExtraState> const& others);
00066 
00067         formCmd computeDistCtrlCurv(int uavId, Formation const& formation, Trajectory const& traj, formParam const& param, std::list<formExtraState> const& others);
00068 
00069     }
00070 
00071 }
00072 
00073 #endif