Distributed Control Guidance¶

Formation Control¶

class choirbot.guidance.distributed_control.formationcontrol.FormationControlGuidance(update_frequency, gain=0.1, pose_handler=None, pose_topic=None, input_topic='velocity')[source]¶

Bases: choirbot.guidance.distributed_control.distributed_control.DistributedControlGuidance

Formation Control

Implements a formation control law for systems….

__init__(update_frequency, gain=0.1, pose_handler=None, pose_topic=None, input_topic='velocity')[source]¶: Init method

evaluate_input(neigh_data)[source]¶