vrep_perturbations.cpp File Reference

Node responsible for including external perturbations on V-REP scenes. The version 1.0 controls the tilt angle of a platform in V-REP, onto which the robot stands. This inclianation can be controlled either by the joystick gimbal angles, or automatically generated by a sinusoidal function. More...

#include <humanoid_simulation/humanoid_simulation.h>

Include dependency graph for vrep_perturbations.cpp:

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Macros
#define	PI   3.14159265

Functions
HDboolean	CheckCalibration ()
int	main (int argc, char **argv)
void	mainLoop (int argc, char **argv)
HDCallbackCode HDCALLBACK	SchedulerCallback (void *pUserData)
void	setPlatformPose (double &time)
void	setupMessaging (ros::NodeHandle nh)
void	simulationCallback (const vrep_common::VrepInfo &msg)
double	simulationTime (0)
int	simulator_state (4)
HDCallbackCode HDCALLBACK	UpdateCalibrationCallback (void *pUserData)

Variables
string	amplitude
ros::Publisher	command_left_platform_pub
ros::Publisher	command_right_platform_pub
string	frequency
HDSchedulerHandle	gCallbackHandle = HD_INVALID_HANDLE
geometry_msgs::PoseStamped	left_platform
geometry_msgs::Vector3	left_platform_init
string	move_type = "move_down"
geometry_msgs::Point	pelvis_target
geometry_msgs::Point	pelvis_target_init
geometry_msgs::PointStamped	pelvis_target_stamped
string	plane
double	poly_time
geometry_msgs::PoseStamped	right_platform
geometry_msgs::Vector3	right_platform_init
ros::Subscriber	simulation_state_sub
static device_state	state
double	time_inc = 0.05

Detailed Description

Node responsible for including external perturbations on V-REP scenes. The version 1.0 controls the tilt angle of a platform in V-REP, onto which the robot stands. This inclianation can be controlled either by the joystick gimbal angles, or automatically generated by a sinusoidal function.

Version

v1.0

Author

João O. Barros

Date

February 2015

Definition in file vrep_perturbations.cpp.

Macro Definition Documentation

#define PI   3.14159265

Definition at line 15 of file vrep_perturbations.cpp.

Function Documentation

HDboolean CheckCalibration

(

)

Definition at line 212 of file vrep_perturbations.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 279 of file vrep_perturbations.cpp.

void mainLoop	(	int	argc,
		char **	argv
	)

Definition at line 181 of file vrep_perturbations.cpp.

HDCallbackCode HDCALLBACK SchedulerCallback

(

void *

pUserData

)

Definition at line 50 of file vrep_perturbations.cpp.

void setPlatformPose

(

double &

time

)

Definition at line 92 of file vrep_perturbations.cpp.

void setupMessaging

(

ros::NodeHandle

nh

)

Definition at line 171 of file vrep_perturbations.cpp.

void simulationCallback

(

const vrep_common::VrepInfo &

msg

)

Definition at line 150 of file vrep_perturbations.cpp.

double simulationTime

(

0

)

int simulator_state

(

4

)

HDCallbackCode HDCALLBACK UpdateCalibrationCallback

(

void *

pUserData

)

Definition at line 199 of file vrep_perturbations.cpp.

Variable Documentation

string amplitude

Definition at line 46 of file vrep_perturbations.cpp.

ros::Publisher command_left_platform_pub

Definition at line 27 of file vrep_perturbations.cpp.

ros::Publisher command_right_platform_pub

Definition at line 26 of file vrep_perturbations.cpp.

string frequency

Definition at line 47 of file vrep_perturbations.cpp.

HDSchedulerHandle gCallbackHandle = HD_INVALID_HANDLE

Definition at line 23 of file vrep_perturbations.cpp.

geometry_msgs::PoseStamped left_platform

Definition at line 30 of file vrep_perturbations.cpp.

geometry_msgs::Vector3 left_platform_init

Definition at line 33 of file vrep_perturbations.cpp.

string move_type = "move_down"

Definition at line 43 of file vrep_perturbations.cpp.

geometry_msgs::Point pelvis_target

Definition at line 35 of file vrep_perturbations.cpp.

geometry_msgs::Point pelvis_target_init

Definition at line 36 of file vrep_perturbations.cpp.

geometry_msgs::PointStamped pelvis_target_stamped

Definition at line 37 of file vrep_perturbations.cpp.

string plane

Definition at line 45 of file vrep_perturbations.cpp.

double poly_time

Definition at line 42 of file vrep_perturbations.cpp.

geometry_msgs::PoseStamped right_platform

Definition at line 29 of file vrep_perturbations.cpp.

geometry_msgs::Vector3 right_platform_init

Definition at line 32 of file vrep_perturbations.cpp.

ros::Subscriber simulation_state_sub

Definition at line 25 of file vrep_perturbations.cpp.

device_state state

static

Definition at line 19 of file vrep_perturbations.cpp.

double time_inc = 0.05

Definition at line 41 of file vrep_perturbations.cpp.