follow_pedestrian: /home/laradmin/lar/demos/follow_pedestrian/src/follow

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00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
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00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
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00035 #ifndef _FOLLOW_PEDESTRIAN_H_
00036 #define _FOLLOW_PEDESTRIAN_H_
00037 
00038 #include <stdio.h>
00039 #include <ros/ros.h>
00040 #include <laser_geometry/laser_geometry.h>
00041 #include <sensor_msgs/LaserScan.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <tf/transform_listener.h>
00044 #include <pcl_ros/transforms.h>
00045 #include <pcl/ros/conversions.h>
00046 #include <pcl/point_cloud.h>
00047 #include <pcl/point_types.h>
00048 #include <pcl/segmentation/extract_polygonal_prism_data.h>
00049 #include <pcl/filters/extract_indices.h>
00050 #include <pcl/filters/project_inliers.h>
00051 
00052 
00053 #include <visualization_msgs/Marker.h>
00054 #include <visualization_msgs/MarkerArray.h>
00055 #include <mtt/TargetListPC.h>
00056 
00057 
00058 #include <atlascar_base/AtlascarCommand.h>
00059 #include <sound_play/sound_play.h>
00060 //#include <unistd.h>
00061 #include <ros/package.h>
00062 
00063 #define PFLN printf("file %s line %d\n",__FILE__,__LINE__);
00064 
00065 #define _USE_DEBUG_ 1
00066 #define LIGHT_OFF 0
00067 #define LIGHT_ON 1
00068 #define SPEED_STOP 0
00069 #define SPEED_MOVE_SLOW 0.1
00070 #define DIRECTION_IN_FRONT 0
00071 //#define _SAFE_DISTANCE_ 1
00072 
00073 //defines for test
00074 #define _SAFE_ZONE_X_MAX_ 4
00075 #define _SAFE_ZONE_X_MIN_ 3.5
00076 #define _SAFE_ZONE_Y_MAX_ 0.5
00077 #define _SAFE_ZONE_Y_MIN_ -0.5
00078 #define _SEARCH_X_ 6
00079 #define _SEARCH_Y_ 0
00080 #define _SEARCH_RADIUS_ 0.3
00081 
00082 //areas for outside demo
00083 //#define _SAFE_ZONE_X_MAX_ 9
00084 //#define _SAFE_ZONE_X_MIN_ 3.5
00085 //#define _SAFE_ZONE_Y_MAX_ 2.5
00086 //#define _SAFE_ZONE_Y_MIN_ -2.5
00087 //#define _SEARCH_X_ 11
00088 //#define _SEARCH_Y_ 0
00089 //#define _SEARCH_RADIUS_ 1.0
00090 
00091 typedef struct                                                                                        
00092 {
00093         double x;
00094         double y;
00095         double radius;
00096 }t_search_area;
00097 
00098 typedef struct
00099 {
00100         double xmin,xmax;
00101         double ymin,ymax;
00102 
00103 }t_safety_zone;
00104 
00105 typedef struct
00106 {
00107         pcl::PointCloud<pcl::PointXYZ> position;
00108         pcl::PointCloud<pcl::PointXYZ> velocity;
00109         std::vector<int> id;
00110 }t_targets;
00111 
00112 typedef enum {SEARCHING,TRACKING, TRACKING_NOT_SAFE,TARGET_LOST,INITIALISE}enum_state;
00113 
00114 typedef enum 
00115 {
00116         SEARCHING_2_TRACKING=88,
00117         SEARCHING_2_TRACKING_NOT_SAFE,
00118         TRACKING_2_TARGET_LOST,
00119         TRACKING_2_TRACKING_NOT_SAFE,
00120         TRACKING_NOT_SAFE_2_TRACKING,
00121         TRACKING_NOT_SAFE_2_TARGET_LOST,
00122         NONE
00123 }t_transitions;
00124 
00125 typedef struct                                                                                        
00126 {
00127         enum_state state;
00128         enum_state previous_state;
00129         int target_id;
00130         double current_angle,current_distance;
00131         double current_x,current_y,current_z;
00132         geometry_msgs::Quaternion current_q;
00133 
00134         bool target_found;          
00135         int last_id;
00136 
00137         bool CONTROL_CAR_SPEED;
00138 
00139         double direction;
00140         ros::Time tic_tracking_not_safe;
00141         ros::Time tic_searching;
00142         ros::Time tic_tracking;
00143         ros::Time tic_last_sound;
00144         ros::Time tic_last_itsnotsafe;
00145         bool reset_tracking;
00146 }t_status;
00147 
00148 //PROTOTYPES
00149 void state_machine(void);
00150 void foveationcontrol_sweeping(void);
00151 bool is_safe_using_lasers(void);
00152 void sleepok(int t, ros::NodeHandle &nh);
00153 void play_sound(int sit, int mandatory, double num_h=5);
00154 void print_status(t_status* status);                                                                    
00155 bool check_safety_zone(t_targets* targets, t_safety_zone* safety_zone);
00156 void mtt_targets_cb (const mtt::TargetListPC& targetlist);
00157 void add_to_viz_markers_vec(std::vector<visualization_msgs::Marker>* marker_vec);
00158 bool search_for_new_target(t_targets* targets, t_status* status, t_search_area* area);
00159 bool get_new_target_information(t_targets *targets, t_status* status);
00160 void init_search_area(t_search_area* area);
00161 void foveationcontrol(t_status* status);
00162 void foveationcontrol_home(void);
00163 void set_high_command_msg_direction_speed(atlascar_base::AtlascarCommand& msg, double dir, double speed);
00164 void set_high_command_msg_lights(atlascar_base::AtlascarCommand& msg, bool high, bool medium, bool left, bool right, bool warning);
00165 
00166 //GLOBAL VARIABLES
00167 #ifdef _FOLLOW_PEDESTRIAN_CPP_
00168 
00169 ros::NodeHandle* p_n;
00170 tf::TransformListener *p_listener;
00171 t_search_area search_area;
00172 t_safety_zone safety_zone;
00173 t_targets targets;
00174 t_status status;
00175 sound_play::SoundClient* p_sc;
00176 ros::Publisher* p_pub_fctlr;
00177 double a_h = drand48();
00178 bool FLAG_LASER_SAFE_TO_DRIVE=0;
00179 
00180 atlascar_base::AtlascarCommand command_msg;
00181 ros::Publisher command_pub;
00182 
00183 #else
00184 
00185 extern ros::NodeHandle* p_n;
00186 extern tf::TransformListener *p_listener;
00187 extern t_search_area search_area;
00188 extern t_safety_zone safety_zone;
00189 extern t_targets targets;
00190 extern t_status status;
00191 extern sound_play::SoundClient* p_sc;
00192 extern ros::Publisher* p_pub_fctlr;
00193 extern double a_h;
00194 extern bool FLAG_LASER_SAFE_TO_DRIVE;
00195 
00196 extern atlascar_base::AtlascarCommand command_msg;
00197 extern ros::Publisher command_pub;
00198 
00199 
00200 #endif
00201 
00202 #endif
/home/laradmin/lar/demos/follow_pedestrian/src/follow_pedestrian.h
