/home/laradmin/lar/bases/atlasmv_base/src/atlasmv.cpp File Reference

Main control module for the atlasmv base. More...

#include <atlasmv.h>

Include dependency graph for atlasmv.cpp:

Go to the source code of this file.

Defines
#define	BRK_TIME   1.0
#define	DES_VELOCITY_TYPE   1
Functions
void	atlasmv_help (bool help)
	writes used flags for help.
void *	des_thread_func (void *)
	thread function that will communicate with DES maxon servoamplifier
void *	dioc_thread_func (void *)
	thread function to interface communication with DIOC board
void	handler_lights (const atlasmv_base::AtlasmvLightsCommandPtr &msg)
void	handler_motion (const atlasmv_base::AtlasmvMotionCommandPtr &msg)
void	handler_vert_sign (const atlasmv_base::AtlasmvVertSignsCommandPtr &msg)
int	increment_motion_model (t_motion_model *model, double dt)
	Increments motion model based on the current available information.
int	initialize_motion_model (t_motion_model *model, double X0, double Y0, double orientation, double wheelbase)
	Initialize car motion model.
int	main (int argc, char **argv)
double	map_linear (double in, std::vector< std::pair< double, double > > &cp)
void *	servos_thread_func (void *)
int	update_motion_model (t_motion_model *model, double velocity, double steering_angle)
	Updates velocity and steering variables.

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Detailed Description

Main control module for the atlasmv base.

Definition in file atlasmv.cpp.

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Define Documentation

#define BRK_TIME   1.0

Definition at line 33 of file atlasmv.cpp.

#define DES_VELOCITY_TYPE   1

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Function Documentation

void atlasmv_help

(

bool

help

)

writes used flags for help.

Parameters:

help

true if we want to show the help, false if not

Definition at line 595 of file atlasmv.cpp.

void* des_thread_func

(

void *

)

thread function that will communicate with DES maxon servoamplifier

Returns:

void

Definition at line 89 of file atlasmv.cpp.

void* dioc_thread_func

(

void *

)

thread function to interface communication with DIOC board

Returns:

void

Definition at line 171 of file atlasmv.cpp.

void handler_lights

(

const atlasmv_base::AtlasmvLightsCommandPtr &

msg

)

Definition at line 40 of file atlasmv.cpp.

void handler_motion

(

const atlasmv_base::AtlasmvMotionCommandPtr &

msg

)

Definition at line 45 of file atlasmv.cpp.

void handler_vert_sign

(

const atlasmv_base::AtlasmvVertSignsCommandPtr &

msg

)

Definition at line 35 of file atlasmv.cpp.

int increment_motion_model	(	t_motion_model *	model,
		double	dt
	)

Increments motion model based on the current available information.

Parameters:

	model	Motion model to use
	dt	time lapse since last iteration

Returns:

error code

Definition at line 561 of file atlasmv.cpp.

int initialize_motion_model	(	t_motion_model *	model,
		double	X0,
		double	Y0,
		double	orientation,
		double	wheelbase
	)

Initialize car motion model.

Parameters:

	model	Motion model to use
	X0	initial x position
	Y0	initial y position
	orientation	initial orientation
	wheelbase	wheelbase of the car

Returns:

error code

Definition at line 530 of file atlasmv.cpp.

int main	(	int	argc,
		char **	argv
	)

ROS INIT

Ir buscar os parametros

Definition at line 328 of file atlasmv.cpp.

double map_linear	(	double	in,
		std::vector< std::pair< double, double > > &	cp
	)

Definition at line 304 of file atlasmv.cpp.

void* servos_thread_func

(

void *

)

Returns:

Definition at line 195 of file atlasmv.cpp.

int update_motion_model	(	t_motion_model *	model,
		double	velocity,
		double	steering_angle
	)

Updates velocity and steering variables.

Parameters:

	model	Motion model to use
	velocity	current velocity
	steering_angle	current steering angle

Returns:

error code

Definition at line 548 of file atlasmv.cpp.