trajectory_executive.cpp File Reference

publishes a command message to follow a trajectory More...

#include <ros/ros.h>
#include <trajectory_planner/c_trajectory.h>
#include <trajectory_planner/c_manage_trajectory.h>
#include <atlasmv_base/AtlasmvStatus.h>
#include <atlasmv_base/AtlasmvMotionCommand.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <math.h>
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
#include <trajectory_planner/traj_info.h>

Include dependency graph for trajectory_executive.cpp:

Go to the source code of this file.

Macros
#define	_traj_executor_CPP_

Functions
void	Info_handler (const trajectory_planner::traj_info &msg)
bool	jump_node (double dist_init, int node)
	Determines if the robot is already on the following node. More...
int	main (int argc, char **argv)
	Main code of the nodelet. More...
void	send_command_message (int current_node)
	Callback of published message. More...
void	StatusMessageHandler (const atlasmv_base::AtlasmvStatus &msg)
	Define message status. More...

Variables
atlasmv_base::AtlasmvStatus	base_status
atlasmv_base::AtlasmvMotionCommand	command
ros::Publisher	commandPublisher
double	dist_init
trajectory_planner::traj_info	info
ros::NodeHandle *	p_n

Detailed Description

publishes a command message to follow a trajectory

Author

Joel Pereira

Version

v0

Date

2012-05-25

Definition in file trajectory_executive.cpp.

Macro Definition Documentation

#define _traj_executor_CPP_

Definition at line 28 of file trajectory_executive.cpp.

Function Documentation

void Info_handler

(

const trajectory_planner::traj_info &

msg

)

Parameters

const

trajectory_planner::traj_info& msg

Returns

void

Definition at line 143 of file trajectory_executive.cpp.

bool jump_node	(	double	dist_init,
		int	node
	)

Determines if the robot is already on the following node.

Parameters

double	dist_init
int	node
c_trajectoryPtr	t

Returns

bool

Definition at line 104 of file trajectory_executive.cpp.

int main	(	int	argc,
		char **	argv
	)

Main code of the nodelet.

Generates a frame higher than the car frame, to publish the point cloud to the mtt.

Publishes the trajectories message and the command message

Parameters

int	argc
char	**argv

Returns

int

Definition at line 158 of file trajectory_executive.cpp.

void send_command_message

(

int

current_node

)

Callback of published message.

Comand message send to robotic vehicle

Parameters

int

Returns

void

Definition at line 67 of file trajectory_executive.cpp.

void StatusMessageHandler

(

const atlasmv_base::AtlasmvStatus &

msg

)

Define message status.

Parameters

const

atlasmv_base::AtlasmvStatus& msg

Returns

void

Definition at line 132 of file trajectory_executive.cpp.

Variable Documentation

atlasmv_base::AtlasmvStatus base_status

Definition at line 58 of file trajectory_executive.cpp.

atlasmv_base::AtlasmvMotionCommand command

Definition at line 55 of file trajectory_executive.cpp.

ros::Publisher commandPublisher

Definition at line 53 of file trajectory_executive.cpp.

double dist_init

Definition at line 57 of file trajectory_executive.cpp.

trajectory_planner::traj_info info

Definition at line 54 of file trajectory_executive.cpp.

ros::NodeHandle* p_n

Definition at line 56 of file trajectory_executive.cpp.