/home/laradmin/lar/perception/driver_monitoring/src/colision_time.cpp File Reference

Nodelet to detect and display information about danger situation. More...

#include <class_colision_time.h>

Include dependency graph for colision_time.cpp:

Functions
void	begin_situation (void)
	Verification of each situation,.
int	cria_txt (int x)
	Function responsable to write the text file with data relevant to each risk situation.
visualization_msgs::Marker	generic_text (float x, float y, float z, float r, float g, float b, float scale, std::string txt, std::string frm_id, std::string ns)
	Function responsable for defining generic text in rviz.
void	initialization_variables (void)
	inicialization of each situation to zero
int	main (int argc, char **argv)
	main of the program, includes the callback funtions associated
visualization_msgs::Marker	mark_cluster (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_cluster, std::string ns,int id, float r, float g, float b)
	function to estimate a marker_front arround the cluster to show on rviz
visualization_msgs::Marker	mark_side_cluster (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_cluster, std::string ns,int id, float r, float g, float b)
	function to estimate a marker_front arround the cluster to show on rviz
void	topic_callback (const mtt::TargetListPC::Ptr &msg)
	Callback to read the msg from mtt pacagde.
void	topic_callback_partial (atlascar_base::AtlascarPartialStatus AtlascarPartialStatus_msg)
	Callback to save the msg from driver monitoring Arduino.
void	topic_callback_plc_status (atlascar_base::AtlascarStatus AtlascarStatus_msg)
	Callback to save the msg from atlascar PLC.
void	topic_callback_rosout_cool (rosgraph_msgs::Log rosout_msg)
	Callback to save the msg from the name of bag file.
void	topic_callback_velocity (atlascar_base::AtlascarVelocityStatus AtlascarVelocityStatus_msg)
	Callback to save the msg from Velocity Arduino.
Variables
class_colision_time::TYPE_msg_bags	colision_time
tf::TransformListener *	listener_center_bumper_ptr
ros::Publisher	marker_front_text_publisher
ros::Publisher	marker_fronts_publisher
ros::Publisher	marker_generic_text_blink_left_publisher
ros::Publisher	marker_side_publisher
ros::Publisher	marker_side_text_blink_publisher
ros::Publisher	marker_side_text_publisher
class_colision_time::TYPE_msg_mtt	obstacle_left
class_colision_time::TYPE_msg_mtt	obstacle_zone_front
class_colision_time::TYPE_msg_partial	partial_msg
class_colision_time::TYPE_msg_plc	plc_msg
ros::Publisher	points_pub
class_colision_time::TYPE_msg_velocity	velocity_msg

Detailed Description

Nodelet to detect and display information about danger situation.

Author:: André Oliveira

Date:: May 2012

Definition in file colision_time.cpp.

Function Documentation

void begin_situation ( void )

Verification of each situation,.

Returns:: void

Definition at line 139 of file colision_time.cpp.

int cria_txt ( int x )

Function responsable to write the text file with data relevant to each risk situation.

Parameters:

[in] int that have the number situation

Returns:: null.

Definition at line 77 of file colision_time.cpp.

visualization_msgs::Marker generic_text	(	float	x,
		float	y,
		float	z,
		float	r,
		float	g,
		float	b,
		float	scale,
		std::string	txt,
		std::string	frm_id,
		std::string	ns
	)

Function responsable for defining generic text in rviz.

Parameters:

`[in]`	x	position X of text
`[in]`	y	position Y of text
`[in]`	z	position Z of text
`[in]`	r	color on channel red of the text
`[in]`	g	color on channel green of the text
`[in]`	b	color on channel blue of the text
`[in]`	scale	text scale
`[in]`	txt	letters to be written on rviz
`[in]`	frm_id	frame id of the marker
`[in]`	ns	id number of the marker

Returns:: marker_front the marker_front publish

Definition at line 611 of file colision_time.cpp.

void initialization_variables ( void )

inicialization of each situation to zero

Returns:: void

Definition at line 126 of file colision_time.cpp.

int main	(	int	argc,
		char **	argv
	)

main of the program, includes the callback funtions associated

Returns:: 1

Definition at line 537 of file colision_time.cpp.

visualization_msgs::Marker mark_cluster	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_cluster,
		std::string	ns,
		int	id,
		float	r,
		float	g,
		float	b
	)

function to estimate a marker_front arround the cluster to show on rviz

Parameters:

`[in]`	cloud_cluster	pointer to the cluster
`[in]`	ns	string with the classification name
`[in]`	id	the marker_front ident
`[in]`	r	the r channel color
`[in]`	g	the g channel color
`[in]`	b	the b channel color

Returns:: marker_front the marker_front to publish

Definition at line 661 of file colision_time.cpp.

visualization_msgs::Marker mark_side_cluster	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_cluster,
		std::string	ns,
		int	id,
		float	r,
		float	g,
		float	b
	)

function to estimate a marker_front arround the cluster to show on rviz

Parameters:

`[in]`	cloud_cluster	pointer to the cluster
`[in]`	ns	string with the classification name
`[in]`	id	the marker_front ident
`[in]`	r	the r channel color
`[in]`	g	the g channel color
`[in]`	b	the b channel color

Returns:: marker_front the marker_front to publish

Definition at line 718 of file colision_time.cpp.

void topic_callback ( const mtt::TargetListPC::Ptr & msg )

Callback to read the msg from mtt pacagde.

This is one of the principal functions in this code, because this function identifies, if an obstacle is in or out of the search zones. And calculates the colision_time from the car to the object.