/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.

Detailed Description

Main control module for the atlasmv base.

Definition in file atlasmv.cpp.


Define Documentation

#define BRK_TIME   1.0

Definition at line 33 of file atlasmv.cpp.

#define DES_VELOCITY_TYPE   1

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.

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atlasmv_base
Author(s): David Gameiro, Jorge Almeida
autogenerated on Wed Jul 23 04:34:43 2014