void AgentCore::algorithmCallback(const ros::TimerEvent &timer_event) {
consensus(); // also clears the received statistics container
control(); // also publishes virtual agent pose and path
guidance();
dynamics(); // also publishes agent pose and path
waitForSlotTDMA(slot_tdma_*agent_id_); // sync to the next transmission TDMA slot (agent dependent)
// publishes the last estimated statistics in the proper TDMA slot
formation_control::FormationStatisticsStamped msg;
msg.header.frame_id = agent_virtual_frame_;
msg.header.stamp = ros::Time::now();
msg.agent_id = agent_id_;
msg.stats = estimated_statistics_;
stats_publisher_.publish(msg);
std::stringstream s;
s << "Estimated statistics published.";
console(__func__, s, DEBUG);
}
void cover()
{
s=18;sp=6;
w9=w8=w4=w6=w5=w2=w3=w7=w0=wk=we=wf=wj=wl=wp=wr=ws=s/2;//1/2
w1=wi=s/4;
wg=wc=wh=wn=wb=wu=wt=wv=wx=wy=2*s/3;//2/3
ww=wm=wa=wd=wo=wq=wz=3*s/4;//3/4
h=s;//1
///////////////////
xnxt=-52;ynxt=370;
computer();
xnxt+=s/2;
graphics();
xnxt=0;ynxt-=2*s-4;
mini();
xnxt+=s/2;
project();
/////////////////
s=28;sp=8;
w9=w8=w4=w6=w5=w2=w3=w7=w0=wk=we=wf=wj=wl=wp=wr=ws=s/2;//1/2
w1=wi=s/4;
wg=wc=wh=wn=wb=wu=wt=wv=wx=wy=2*s/3;//2/3
ww=wm=wa=wd=wo=wq=wz=3*s/4;//3/4
h=s;//1
///////////////////
glPointSize(3.0);
xnxt=-100;ynxt-=2*s;
balloon1();
xnxt+=s/2;
shooting();
////////////////
s=16;sp=4;
w9=w8=w4=w6=w5=w2=w3=w7=w0=wk=we=wf=wj=wl=wp=wr=ws=s/2;//1/2
w1=wi=s/4;
wg=wc=wh=wn=wb=wu=wt=wv=wx=wy=2*s/3;//2/3
ww=wm=wa=wd=wo=wq=wz=3*s/4;//3/4
h=s;//1
//////////////
glPointSize(2.0);
xnxt=320;ynxt-=4*s;
glPointSize(1.5);
by();
////////////////
s=16;sp=6;
w9=w8=w4=w6=w5=w2=w3=w7=w0=wk=we=wf=wj=wl=wp=wr=ws=s/2;//1/2
w1=wi=s/4;
wg=wc=wh=wn=wb=wu=wt=wv=wx=wy=2*s/3;//2/3
ww=wm=wa=wd=wo=wq=wz=3*s/4;//3/4
h=s;//1
xnxt=170;ynxt-=3*s;
arahant();
xnxt=160;ynxt-=2*s;
ashrith();
xnxt=170;ynxt-=2*s;
dhanush();
xnxt=138;ynxt-=2*s;
harsha();
xnxt=184;ynxt-=2*s;
shreeman();
///////////////////////////
xnxt=-190;ynxt=124;
guidance();
xnxt=-190;ynxt-=3*s;
sir();
xnxt=-190;ynxt-=2*s;
madam();
}
