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50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
4 years ago
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#include "class_model/mission.h"
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MissionClass::MissionClass() : node_handle_(""){
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}
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MissionClass::~MissionClass() { ros::shutdown(); }
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void MissionClass::fly2target(float x,float y){
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select_formation.protect_formation(x,y);
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sleep(1);
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select_formation.protect_formation(-x,-y);
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// select_formation.stop();
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ROS_INFO("-----------------------");
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}
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void MissionClass::cruise(float x, float y){
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// select_formation.protect_formation(0,y);
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// sleep(1);
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// select_formation.protect_formation(-x,0);
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// sleep(1);
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// select_formation.protect_formation(0,-y);
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// sleep(1);
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// select_formation.protect_formation(x,0);
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// sleep(1);
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select_formation.init_formation(0,y);
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sleep(1);
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select_formation.init_formation(-x,0);
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sleep(1);
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select_formation.init_formation(0,-y);
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sleep(1);
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select_formation.init_formation(x,0);
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sleep(1);
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}
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void MissionClass::snake(float x, float y){
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select_formation.line_formation(0,y);
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sleep(1);
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select_formation.line_formation(-x,0);
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sleep(1);
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select_formation.line_formation(0,-y);
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sleep(1);
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select_formation.line_formation(x,0);
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sleep(1);
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}
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