nav_fish.h File Reference

#include "std.h"

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Data Structures
struct	NavFishParams
	nav fish param structure More...

Functions
void	nav_fish_init (void)
	nav fish init More...
bool	nav_fish_velocity_run (void)
	nav fish velocity run More...

Variables
struct NavFishParams	nav_fish_params

Detailed Description

Author

Adjiri Adam adam..nosp@m.adji.nosp@m.ri@et.nosp@m.u.is.nosp@m.ae-en.nosp@m.sma..nosp@m.fr Bio-inspired swarm navigation

Definition in file nav_fish.h.

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Data Structure Documentation

NavFishParams

struct NavFishParams

nav fish param structure

Definition at line 35 of file nav_fish.h.

Data Fields
float	alpha	random fluctuation reduction to wall
float	alpha_rep	intensity of repulsion
float	alt	flight altitude
float	d0_ali	alignement balance distance
float	d0_att	attraction balance distance
float	e_w1	wall interaction's first coefficient
float	e_w2	wall interaction's first coefficient
float	fluct	random fluctuation intensity
float	l_ali	alignement distance
float	l_att	attraction distance
float	l_w	wall interaction distance
float	max_velocity	max velocity allowed
float	min_d2d	minimum distance between two drones
float	min_velocity	minimum velocity when facing obstacles
uint8_t	strategy	strategy for choosing focal uav : 0 for closest uav , 1 for most influential uav
float	tr_l_ali	alignement distance to trajectory intensity
float	tr_l_att	attraction distance to trajectory intensity
float	tr_y_ali	alignement to trajectory intensity
float	tr_y_att	attraction to trajectory intensity
float	y_ali	alignement intensity
float	y_att	attraction intensity
float	y_w	wall interaction intensity

Function Documentation

nav_fish_init()

void nav_fish_init

(

void

)

nav fish init

nav fish init

Definition at line 175 of file nav_fish.c.

References NavFishParams::alpha, NavFishParams::alpha_rep, NavFishParams::alt, NavFishParams::d0_ali, NavFishParams::d0_att, NavFishParams::e_w1, NavFishParams::e_w2, NavFish::f_ali, NavFish::f_att, NavFish::f_fluct, NavFish::f_w, NavFish::f_wall, NavFishParams::fluct, NavFish::heading, NavFishParams::l_ali, NavFishParams::l_att, NavFishParams::l_w, NavFishParams::max_velocity, NavFishParams::min_d2d, NavFishParams::min_velocity, nav_fish, NAV_FISH_ALPHA, NAV_FISH_ALPHA_REP, NAV_FISH_ALT, NAV_FISH_BODY_LENGTH, NAV_FISH_D0ALI, NAV_FISH_D0ATT, NAV_FISH_EW1, NAV_FISH_EW2, NAV_FISH_FLUCT, NAV_FISH_LALI, NAV_FISH_LATT, NAV_FISH_LW, NAV_FISH_MAXVELOCITY, NAV_FISH_MIND2D, NAV_FISH_MINVELOCITY, nav_fish_params, NAV_FISH_STRATEGY, NAV_FISH_TRLALI, NAV_FISH_TRLATT, NAV_FISH_TRYALI, NAV_FISH_TRYATT, NAV_FISH_YALI, NAV_FISH_YATT, NAV_FISH_YW, NavFish::r_w, NavFish::step_size, NavFishParams::strategy, NavFish::theta_w, NavFishParams::tr_l_ali, NavFishParams::tr_l_att, NavFishParams::tr_y_ali, NavFishParams::tr_y_att, NavFish::velocity, NavFishParams::y_ali, NavFishParams::y_att, and NavFishParams::y_w.

nav_fish_velocity_run()

bool nav_fish_velocity_run

(

void

)

nav fish velocity run

nav fish velocity run

Returns

true

Definition at line 487 of file nav_fish.c.

References autopilot_guided_update(), calculate_new_heading(), counter, NavFish::f_w, FLOAT_ANGLE_NORMALIZE, GUIDED_FLAG_XY_BODY, GUIDED_FLAG_XY_VEL, NavFish::heading, nav_fish, new_heading, nfp, PRESCALE, send_swarm_message(), and NavFish::velocity.

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Variable Documentation

nav_fish_params

struct NavFishParams nav_fish_params

extern

Definition at line 152 of file nav_fish.c.

Referenced by nav_fish_init().