#include <maneuvers.h>

Public Types
enum	CarState { UNKNOWN, INIT, POSITIVE_VELOCITY, NEUTRAL_VELOCITY, NEGATIVE_VELOCITY, PARALLEL_PARKING, REVERSING, NEUTRAL_VELOCITY_PARKING }
	Car state machine status. More...

enum	sequentialState { FIRST, SECOND, THIRD, FOURTH, FIFTH, SIXTH, SEVENTH, EIGHTH, NINETH, TENTH }

Public Member Functions
void	init ()
	Initialize the class. More...

void	loop ()
	Start main control loop. More...

	Maneuvers (const ros::NodeHandle &nh_)

void	setupMessaging ()
	Start ros message subscribing and advertising. More...

void	stateManager ()
	State Manager. More...

Public Attributes
int	maneuver
	Parking status. More...

Protected Member Functions
double	map (double value, double min_value, double max_value, double min_required, double max_required)

void	negative_velocity (int value)
	Callback - Change and send message to manager. More...

void	neutral_velocity (int value)
	Callback - Change and send message to manager. More...

void	neutral_velocity_parking (int value)
	Callback - Change and send message to manager. More...

void	parallel ()
	Parallel. More...

void	parallel_parking (int value)
	Callback - Change and send message to manager. More...

void	positive_velocity (int value)
	Callback - Change and send message to manager. More...

void	reverse ()
	Reverse. More...

void	reversing (int value)
	Callback - Change and send message to manager. More...

void	saveData (string report_name)

void	statusCallback (const atlascar_base::ManagerStatusPtr &status)
	Callback - Status of all paramters. More...

Protected Attributes
Class variables
The class variables can be both public or private. They should preferably be private whenever possible.
CarState	current_state
	Current state of state machine. More...

sequentialState	pparking
	Moving to stopped state. More...

sequentialState	rreverse
	Moving to stopped state. More...

ros::NodeHandle	nh
	Ros node handler. More...

ros::Publisher	command_pub
	Ros command publisher. More...

ros::Subscriber	command_sub_
	Ros command subscriber. More...

ros::Subscriber	status_sub
	Ros status subscriber. More...

atlascar_base::ManagerCommand	command_msg
	Command message. More...

atlascar_base::ManagerStatus	status_msg
	Status message. More...

atlascar_base::ManagerStatus	status_memory
	Status message memory. More...

Gamepad	gamepad
	Gamepad communication class. More...

Detailed Description

Definition at line 45 of file maneuvers.h.

Member Enumeration Documentation

enum atlascar_base::Maneuvers::CarState

Car state machine status.

Define all states of macine

Enumerator
UNKNOWN
INIT
POSITIVE_VELOCITY
NEUTRAL_VELOCITY
NEGATIVE_VELOCITY
PARALLEL_PARKING
REVERSING
NEUTRAL_VELOCITY_PARKING

Definition at line 100 of file maneuvers.h.

enum atlascar_base::Maneuvers::sequentialState

Enumerator
FIRST
SECOND
THIRD
FOURTH
FIFTH
SIXTH
SEVENTH
EIGHTH
NINETH
TENTH

Definition at line 113 of file maneuvers.h.

Constructor & Destructor Documentation

atlascar_base::Maneuvers::Maneuvers ( const ros::NodeHandle & nh_ )

inline

Definition at line 48 of file maneuvers.h.

Member Function Documentation

void atlascar_base::Maneuvers::init ( )

Initialize the class.

Add the safety message to the command queue.

Definition at line 36 of file maneuvers.cpp.

void atlascar_base::Maneuvers::loop ( )

Start main control loop.

Loop the module sending command messages (velocity) to the manager. It currently loops at about 100Hz.

Definition at line 474 of file maneuvers.cpp.

double atlascar_base::Maneuvers::map	(	double	value,
		double	min_value,
		double	max_value,
		double	min_required,
		double	max_required
	)

protected

void atlascar_base::Maneuvers::negative_velocity ( int value )

protected

Callback - Change and send message to manager.

Impose a negative velocity

Definition at line 121 of file maneuvers.cpp.

void atlascar_base::Maneuvers::neutral_velocity ( int value )

protected

Callback - Change and send message to manager.

Impose a neutral velocity 0 km/h

Definition at line 168 of file maneuvers.cpp.

void atlascar_base::Maneuvers::neutral_velocity_parking ( int value )

protected

Callback - Change and send message to manager.

Impose a neutral gear

Definition at line 180 of file maneuvers.cpp.

void atlascar_base::Maneuvers::parallel ( )

protected

Parallel.

Redefine values of variables to be send

Definition at line 326 of file maneuvers.cpp.

void atlascar_base::Maneuvers::parallel_parking ( int value )

protected

Callback - Change and send message to manager.

Impose a sequence of velocity and direction

Definition at line 134 of file maneuvers.cpp.

void atlascar_base::Maneuvers::positive_velocity ( int value )

protected

Callback - Change and send message to manager.

Impose a positive velocity

Definition at line 107 of file maneuvers.cpp.

void atlascar_base::Maneuvers::reverse ( )

protected

Reverse.

Redefine values of variables to be send

Definition at line 193 of file maneuvers.cpp.

void atlascar_base::Maneuvers::reversing ( int value )

protected

Callback - Change and send message to manager.

Impose a sequence of velocity and direction

Definition at line 151 of file maneuvers.cpp.

void atlascar_base::Maneuvers::saveData ( string report_name )

protected

void atlascar_base::Maneuvers::setupMessaging ( )

Start ros message subscribing and advertising.

Subscribe command messages and advertise status messages.

Definition at line 72 of file maneuvers.cpp.

void atlascar_base::Maneuvers::stateManager ( )

State Manager.

Analyzes the state of state machine

Definition at line 410 of file maneuvers.cpp.

void atlascar_base::Maneuvers::statusCallback ( const atlascar_base::ManagerStatusPtr & status )

protected

Callback - Status of all paramters.

Allow check all parameters from manager

Definition at line 80 of file maneuvers.cpp.

Member Data Documentation

atlascar_base::ManagerCommand atlascar_base::Maneuvers::command_msg

protected

Command message.

Definition at line 229 of file maneuvers.h.

ros::Publisher atlascar_base::Maneuvers::command_pub

protected

Ros command publisher.

Definition at line 220 of file maneuvers.h.

ros::Subscriber atlascar_base::Maneuvers::command_sub_

protected

Ros command subscriber.

Definition at line 223 of file maneuvers.h.

CarState atlascar_base::Maneuvers::current_state

protected

Current state of state machine.

Definition at line 208 of file maneuvers.h.

Gamepad atlascar_base::Maneuvers::gamepad

protected

Gamepad communication class.

Definition at line 238 of file maneuvers.h.

int atlascar_base::Maneuvers::maneuver

Parking status.

Variable to define parking satus

Definition at line 132 of file maneuvers.h.

ros::NodeHandle atlascar_base::Maneuvers::nh

protected

Ros node handler.

Definition at line 217 of file maneuvers.h.

sequentialState atlascar_base::Maneuvers::pparking

protected

Moving to stopped state.

Definition at line 211 of file maneuvers.h.

sequentialState atlascar_base::Maneuvers::rreverse

protected

Moving to stopped state.

Definition at line 214 of file maneuvers.h.

atlascar_base::ManagerStatus atlascar_base::Maneuvers::status_memory

protected

Status message memory.

Definition at line 235 of file maneuvers.h.

atlascar_base::ManagerStatus atlascar_base::Maneuvers::status_msg

protected

Status message.

Definition at line 232 of file maneuvers.h.

ros::Subscriber atlascar_base::Maneuvers::status_sub

protected

Ros status subscriber.

Definition at line 226 of file maneuvers.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation