atlasmv.cpp File Reference

Main control module for the atlasmv base. More...

#include <atlasmv_base/atlasmv.h>

Include dependency graph for atlasmv.cpp:

Go to the source code of this file.

Macros
#define	BRK_TIME   1.0
#define	DES_VELOCITY_TYPE   1

Functions
void	atlasmv_help (bool help)
	writes used flags for help. More...
void *	des_thread_func (void *)
	thread function that will communicate with DES maxon servoamplifier More...
void *	dioc_thread_func (void *)
	thread function to interface communication with DIOC board More...
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. More...
int	initialize_motion_model (t_motion_model *model, double X0, double Y0, double orientation, double wheelbase)
	Initialize car motion model. More...
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. More...

Detailed Description

Main control module for the atlasmv base.

Definition in file atlasmv.cpp.

Macro Definition 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.