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

#include <driver_monitoring/class_colision_time.h>

Include dependency graph for colision_time.cpp:

Functions
void	begin_situation (void)
	Verification of each situation,. More...

int	cria_txt (int x)
	Function responsable to write the text file with data relevant to each risk situation. More...

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. More...

void	initialization_variables (void)
	inicialization of each situation to zero More...

int	main (int argc, char **argv)
	main of the program, includes the callback funtions associated More...

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 More...

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 More...

void	topic_callback (const mtt::TargetListPC::Ptr &msg)
	Callback to read the msg from mtt pacagde. More...

void	topic_callback_rosout_cool (rosgraph_msgs::Log rosout_msg)
	Callback to save the msg from driver monitoring Arduino. More...

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 618 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 544 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 668 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 725 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.

Returns: void

Definition at line 344 of file colision_time.cpp.

void topic_callback_rosout_cool ( rosgraph_msgs::Log rosout_msg )

Callback to save the msg from driver monitoring Arduino.

Returns: void Callback to save the msg from Velocity Arduino; void Callback to save the msg from atlascar PLC; void Callback to save the msg from the name of bag file; void

Definition at line 319 of file colision_time.cpp.