def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._x = 0.0 #robot_x
self._y = 0.0 #robot_y
self._vector_x = 0.0 #vector from robot to formation position
self._vector_y = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._x = 0.0
self._y = 0.0
self._sphere = 1.0
self._min_range = 0.3
self._max_speed = 1.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._sub_list = []
self._pub_list = []
self._position_list = []
self._adj_list = []
self._adj_pub_list = []
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._x = 0.0#robot_x
self._y = 0.0#robot_y
self._vector_x = 0.0#vector from obstacle to robot
self._vector_y = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._x = 0.0#robot_x
self._y = 0.0#robot_y
self._vector_x = 0.0#vector from robot to formation position
self._vector_y = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._x = 0.0 #robot_x
self._y = 0.0 #robot_y
self._vector_x = 0.0 #vector from obstacle to robot
self._vector_y = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._x = 0.0
self._y = 0.0
self._sphere = 1.0
self._min_range = 0.3
self._max_speed = 1.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._sub_list=[]
self._pub_list=[]
self._position_list=[]
self._adj_list=[]
self._adj_pub_list=[]
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._obstacle_x = 0.0
self._obstacle_y = 0.0
self._max_speed = 1
self._min_speed = -1
self._noise_x =0.0
self._noise_y =0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._obstacle_x = 0.0
self._obstacle_y = 0.0
self._max_speed = 1
self._min_speed = -1
self._noise_x = 0.0
self._noise_y = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._obstacle_x = 0.0
self._obstacle_y = 0.0
self._max_speed = 1
self._min_speed = -1
self._noise_x = 0.0
self._noise_y = 0.0
self._formation_x = 0.0
self._formation_y = 0.0
self._robot_vx = 0.0 #already caclulated velocity vector
self._robot_vy = 0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
#self._robot=robot_name
self._obstacle_x = 0.0
self._obstacle_y = 0.0
self._max_speed = 1
self._min_speed = -1
self._noise_x =0.0
self._noise_y =0.0
self._formation_x =0.0
self._formation_y =0.0
self._robot_vx =0.0#already caclulated velocity vector
self._robot_vy =0.0
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._sub_list = []
self._neighbor_position = []
self._neighbor_vel = []
self._neighbor_list = []
self._cb_list = []
self._position = [0, 0]
self._velocity = [0, 0]
#self._pub_list=[]
self._epsilon = 0.1 #segma_norm param
self._a = 5
self._b = 5
self._c = abs(self._a - self._b) / pow(4 * self._a * self._b, 0.5)
self._h = 0.2 #param: rho function for alpha agent
self._d = 7
self._r = 1.2 * self._d
self._r_alpha = self.segma_norm2([self._r, 0])
self._d_alpha = self.segma_norm2([self._d, 0])
self._c1 = 0.5
self._c2 = 0.5
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._sub_list=[]
self._neighbor_position=[]
self._neighbor_vel=[]
self._neighbor_list=[]
self._cb_list=[]
self._position=[0,0]
self._velocity=[0,0]
#self._pub_list=[]
self._epsilon = 0.1 #segma_norm param
self._a = 5
self._b = 5
self._c = abs(self._a - self._b)/ pow(4*self._a*self._b,0.5)
self._h = 0.2 #param: rho function for alpha agent
self._d = 7
self._r = 1.2*self._d
self._r_alpha = self.segma_norm2([self._r,0])
self._d_alpha = self.segma_norm2([self._d,0])
self._c1=0.5
self._c2=0.5
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)
self._sub_list=[]
def __init__(self, node_name):
FunctionUnit.__init__(self, node_name)