[CPS] Core library

making the library for the cps

Introduction

CPS ROS

CPS API

CPS Core

• Environment : 필요한 정보들을 모두 저장.
• Algorithm :

Classes 📌📌📌

• CPSCore :
• CPSRobot :
• Group :
• Target :

Environment

📌 CPSCore

CPSCore (self) contains the following components

Variables

• all : (dictionary of all items in the environment ({cps_object.id : CPSObject() })
• robots (dictionary of robots ({robot.id : CPSRobot() })
• targets : (dictionary of targets ({target.id : Target() })
• groups : (dictionary of groups ({group.id : Group() })

Methods

📌 CPSObject

Variables

• id : the id for the object
• group_ids : list of groups that the object is in.

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📌 CPSRobot (CPSObject)

• pos : position of the robot, numpy.ndarray (3,) shape

📌 CPSDrone (CPSRobot)

Variables

No additional variables yet

Methods

• update_from_ros_data : update the pos variable

📌 CPSRosbot (CPSRobot)

Variables

No additional variables yet

Methods

• update_from_ros_data : update the pos variable

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📌 Group (CPSObject)

Variables

• members : (dictionary of members ({object.id : CPSObject() })

📌 RobotGroup (Group)

📌 DroneGroup (RobotGroup)

📌 UGVGroup (RobotGroup)

📌 DroneAndUGVGroup (RobotGroup)

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📌 Path

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Algorithm