/home/laradmin/lar/bases/humanoid_control/src/Humanoid_control.cpp File Reference

Retrieves the filtered data and commands Humanoid robot. More...

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sstream>
#include <unistd.h>
#include <iostream>
#include <cmath>
#include <sys/types.h>
#include <stdlib.h>
#include <humanoid_control/servohumanoid.h>
#include <hitec5980sg/hitec5980sg.h>
#include <phantom_filter/Phantom.h>
#include <humanoid_control/Humanoid.h>
#include <pressure_cells/Cop.h>

Include dependency graph for Humanoid_control.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
void	PhantomCopCallBk (const pressure_cells::Cop &cop)
void	PhantomFilterCallBk (const phantom_filter::Phantom &phantom_state)
Variables
int	calibration = 0
int	firstHome = 0
short int	firsttme = 1
pressure_cells::Cop	g_Cop
ServoHumanoid *	g_human
phantom_filter::Phantom	g_PState
humanoid_control::Humanoid	g_RState
const double	g_ZZ = THIGH_LENGTH+LEG_LENGTH
const short int	id_list [12] = {11,21,12,22,13,32,15,25,16,26,31,23}
ros::Publisher	pub_state

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Detailed Description

Retrieves the filtered data and commands Humanoid robot.

Author:

Filipe Serra nº 49927

Definition in file Humanoid_control.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 361 of file Humanoid_control.cpp.

void PhantomCopCallBk

(

const pressure_cells::Cop &

cop

)

Definition at line 284 of file Humanoid_control.cpp.

void PhantomFilterCallBk

(

const phantom_filter::Phantom &

phantom_state

)

Definition at line 63 of file Humanoid_control.cpp.

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Variable Documentation

int calibration = 0

Definition at line 54 of file Humanoid_control.cpp.

int firstHome = 0

Definition at line 53 of file Humanoid_control.cpp.

short int firsttme = 1

Definition at line 56 of file Humanoid_control.cpp.

pressure_cells::Cop g_Cop

Definition at line 52 of file Humanoid_control.cpp.

ServoHumanoid* g_human

Definition at line 46 of file Humanoid_control.cpp.

phantom_filter::Phantom g_PState

Definition at line 50 of file Humanoid_control.cpp.

humanoid_control::Humanoid g_RState

Definition at line 51 of file Humanoid_control.cpp.

const double g_ZZ = THIGH_LENGTH+LEG_LENGTH

Definition at line 55 of file Humanoid_control.cpp.

const short int id_list[12] = {11,21,12,22,13,32,15,25,16,26,31,23}

Verificar servo alterado!!!!!

Definition at line 61 of file Humanoid_control.cpp.

ros::Publisher pub_state

Definition at line 48 of file Humanoid_control.cpp.