shasta.primitives.formation
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Module Contents#
Classes#
Formation control primitive using region based shape control. |
- class Formation(config=None)[source]#
Bases:
object
Formation control primitive using region based shape control. Coded by: Apurvakumar Jani, Date: 18/9/2019
- calculate_vel(vehicle, dt, all_drones_pos, centroid_pos, path_vel, vmax, formation_type)[source]#
Calculate the vehicle velocity depending on the position of the peer vehicles
- Parameters:
vehicle (class instance) – A class instance of UxV agent
dt (float) – Time step duration (in seconds) to use in next position calculation
all_drones_pos (aarray) – An array with position of all the vehicles in the group/platoon
centroid_pos (array) – An array specifying the centroid of the platoon
path_vel (float) – Path velocity calculated from next position and current position
vmax (float) – Maximum velocity of the vehicle
formation_type (str) – Whether the formation is solid or ring
- Returns:
vehicle – A vehicle class instance with updated position
- Return type:
class instance
- execute(vehicles, next_pos, centroid_pos, formation_type)[source]#
Get the position of the formation control
- Parameters:
vehicles (list) – A list containing UAV or UGV class
centroid_pos (array) – An array containing the x, y, and z position
dt (float) – Time step to be used for distance calculation