|
Jafar
|
foRmation flIght moDulE -- Module with tools for formation flight of autonomous UAVs
The interface of the module is generated from the following files:
try { } catch block for this module. Classes | |
| class | jafar::ride::Alloc |
| a group of threat to be treated by a jammer More... | |
| struct | jafar::ride::rangeAlloc |
| a list of Alloc with bounds on the trajectory More... | |
| class | jafar::ride::GlobalAlloc |
| a list of all Alloc on the trajectory More... | |
| struct | jafar::ride::unprotectedSlot |
| return status for defensive jamming (unprotected slots) More... | |
| class | jafar::ride::TimeLine |
| set of constraints structured with the trajectory More... | |
| struct | jafar::ride::configState |
| config state data More... | |
| class | jafar::ride::Config |
| full Configuration of the formation, computes the next Slots config at each step More... | |
| class | jafar::ride::Constraint |
| generic constraint More... | |
| class | jafar::ride::ConstraintDmin |
| minimum distance constraint More... | |
| class | jafar::ride::ConstraintDmax |
| maximum distance constraint More... | |
| class | jafar::ride::ConstraintCorridor |
| corridor width constraint More... | |
| class | jafar::ride::ConstraintFormation |
| formation configuration constraint impose a geometric configuration with tags on the slots More... | |
| class | jafar::ride::ConstraintDefence |
| defence constraint tells if a threat should be taken into account More... | |
| class | jafar::ride::ConstraintSplit |
| split constraint for split and join maneuvers More... | |
| struct | jafar::ride::formParam |
| parameters distributed control More... | |
| struct | jafar::ride::formCmd |
| formation command More... | |
| struct | jafar::ride::formExtraState |
| extra aircraft state for UAVs not in the formation More... | |
| class | jafar::ride::Slot |
| Slot object. More... | |
| struct | jafar::ride::tagSlot |
| tag for slot allocation More... | |
| class | jafar::ride::State |
| the state of an UAV in the formation More... | |
| class | jafar::ride::FormationCommand |
| FormationCommand only contains information for formation control. More... | |
| class | jafar::ride::Formation |
| list of UAVs state and formation parameters More... | |
| class | jafar::ride::AreaBase |
| basic geometric sphere More... | |
| class | jafar::ride::VoronoiBase |
| basic voronoi cell More... | |
| class | jafar::ride::Area |
| store the valid area to place UAVs in the formation More... | |
| class | jafar::ride::GC |
| global constant definition for default values More... | |
| class | jafar::ride::SplitGroup |
| define group parameters and constraints for split More... | |
| class | jafar::ride::Interval |
| Interval between two waypoints, contains local constraints. More... | |
| class | jafar::ride::Vect |
| generic vector with operators for math operations More... | |
| class | jafar::ride::SingleTrajectory |
| SingleTrajectory class. More... | |
| class | jafar::ride::MultiTrajectory |
| MultiTrajectory Object. More... | |
| class | jafar::ride::RideException |
| Base class for all exceptions defined in the module ride. More... | |
| class | jafar::ride::Threat |
| Threat. More... | |
| class | jafar::ride::GlobalThreat |
| list of threats More... | |
| class | jafar::ride::Waypoint |
| Waypoint. More... | |
| class | jafar::ride::TrajElt |
| Trajectory Element, line or circle's arc. More... | |
| struct | jafar::ride::posTraj |
| struct with position, direction of the trajectory and current waypoint if not on the traj, return last waypoint More... | |
| class | jafar::ride::Trajectory |
| Trajectory object. More... | |
Typedefs | |
| typedef std::list< SplitGroup > | jafar::ride::SplitParam |
| a list of group for split | |
Enumerations | |
| enum | jafar::ride::ConstraintType { NONE, DMIN, DMAX, CORRIDOR, FORMATION, DEFENCE, SPLIT } |
| Contraint types. | |
| enum | jafar::ride::UAVType { FIGHTER, BOMBER, JAMMER, RECO } |
| UAV types. | |
| enum | jafar::ride::areaType { AREA_MIN, AREA_MAX } |
| type of AreaBase (sphere) More... | |
| enum | jafar::ride::THREAT_PRIORITY { HIGH, NORMAL, LOW } |
| priority level for threats | |
| enum | jafar::ride::ThreatType { EW, TF } |
| Threat types. More... | |
| enum | jafar::ride::wpType { FLYBY, FLYOVER, FLYOVER_WITH_ROUTE } |
| Waypoint types. | |
| enum | jafar::ride::trajType { LINE, CIRCLE } |
| Trajectory Element type. | |
Functions | |
| GlobalAlloc | jafar::ride::computeAlloc (Formation const &form, Trajectory const &traj, GlobalThreat &threats) |
| compute global allocation based on the formation, the trajectory and the EW threats | |
|
std::pair< std::list< Slot > , std::list< Alloc > > | jafar::ride::getJamEWSlotList (posTraj const &pos, Formation const &form, GlobalAlloc const &alloc, Interval const &inter, GlobalThreat &threats) |
| create a list of direction for the jammers positions | |
| std::list< unprotectedSlot > | jafar::ride::setDefensiveJamming (posTraj const &pos, Formation &form, std::list< Threat > const &threats, Interval const &inter) |
| compute the local allocation for defensive jamming based on current formation and TF threats | |
| formCmd | jafar::ride::computeDistCtrl (int uavId, Formation const &formation, formParam const ¶m, std::list< formExtraState > const &others) |
| compute distributed Control for Formation Flight | |
| Vect | jafar::ride::operator* (const double m, const Vect &_v) |
| product with a scalar number | |
| double | jafar::ride::norm (const Vect &v) |
| euclidian norm | |
| Vect | jafar::ride::normVect (const Vect &a, const Vect &b) |
| unitary vector a-b | |
| double | jafar::ride::angleVect (const Vect &a, const Vect &b) |
| angle between 2D vectors | |
| Vect | jafar::ride::eltWiseProduct (const Vect &a, const Vect &b) |
| element wise product | |
| Vect | jafar::ride::rotateVect (const Vect &a, const double angle) |
| rotate 2D vector | |
| MultiTrajectory | jafar::ride::computeMultiTraj (std::pair< std::vector< Slot >, std::vector< bool > > init, std::vector< Slot > goal, double step, double Dmin, double Dmax, double corridor, bool enable3D) |
| MultiPathPlanner function. | |
| MultiTrajectory | jafar::ride::computeMultiTrajForm (Formation const &init, Formation const &goal, Interval const &inter) |
| MultiPath planning based on Formation object. | |
| MultiTrajectory | jafar::ride::smoothMultiTraj (MultiTrajectory const &multiTraj, Interval const &inter, int currentStep) |
| Smoothing function smooth the reconfiguration trajectories. | |
| std::vector< tagSlot > | jafar::ride::optimizeSlotAllocation (Formation const &formation, std::vector< tagSlot > const &slots) |
| Optimize slot allocation. | |
| std::vector< tagSlot > | jafar::ride::optimizeSplitAllocation (Formation const &formation, SplitParam const &splitParam, std::vector< tagSlot > const &slots, std::list< int > &splitGroupId) |
| Optimize split allocation. | |
| MultiTrajectory jafar::ride::computeMultiTraj | ( | std::pair< std::vector< Slot >, std::vector< bool > > | init, |
| std::vector< Slot > | goal, | ||
| double | step, | ||
| double | Dmin, | ||
| double | Dmax, | ||
| double | corridor, | ||
| bool | enable3D | ||
| ) |
MultiPathPlanner function.
init vector gives the initial slot positions and if the UAV is an active jammer (higher priority)
| MultiTrajectory jafar::ride::smoothMultiTraj | ( | MultiTrajectory const & | multiTraj, |
| Interval const & | inter, | ||
| int | currentStep | ||
| ) |
Smoothing function smooth the reconfiguration trajectories.
| multiTraj | the actuel reconfiguration trajectories |
| inter | the current interval in timeline |
| currentStep | the current step in reconfiguration trajectories |
| Generated on Wed Oct 15 2014 00:37:30 for Jafar by doxygen 1.7.6.1 |
|