Distributed formation circular control upgraded #2293
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added 8 commits
July 11, 2018 13:47
biancabndris
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Aug 29, 2018
* -1 is the correct value to erase a neighbor * nei_id 0 special msg to clean tables * We control relative position in addition to the absolute angle * faster convergence, and we control relative position too * not needed, we have json conf files now * forgot to remove the stdio for debugging * forgot to remove this .txt, not needed with json * fixed style
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I wrote two improvements for the distributed formation circulation control module.
The convergence now is faster. There was a small issue with the (-pi, pi) discontinuity thingy in the circle. I removed such an issue.
Before this pull request, the orientation was not under control. Now, when one inits the table with the desired intervehicle angles, in addition, one can set the order of the vehicles in the topology with the 1 and -1 (or by changing the sign of the desired angle).
Tested in simulations with five aircraft and it seems working.