float y_ali
alignement intensity
float e_w1
wall interaction's first coefficient
float d0_att
attraction balance distance
float tr_l_ali
alignement distance to trajectory intensity
float min_d2d
minimum distance between two drones
float min_velocity
minimum velocity when facing obstacles
float max_velocity
max velocity allowed
float l_att
attraction distance
float d0_ali
alignement balance distance
float tr_y_att
attraction to trajectory intensity
float y_w
wall interaction intensity
float tr_y_ali
alignement to trajectory intensity
float l_ali
alignement distance
float alpha
random fluctuation reduction to wall
float alpha_rep
intensity of repulsion
float tr_l_att
attraction distance to trajectory intensity
float y_att
attraction intensity
float e_w2
wall interaction's first coefficient
struct NavFishParams nav_fish_params
void nav_fish_init(void)
nav fish init
float l_w
wall interaction distance
uint8_t strategy
strategy for choosing focal uav : 0 for closest uav , 1 for most influential uav
float fluct
random fluctuation intensity
bool nav_fish_velocity_run(void)
nav fish velocity run
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.