trajectory_planner_nodelet.cpp File Reference

Uses the c-trajectory class, to publish trajectories and send the message to follow one of them. More...

#include "trajectory_planner_nodelet.h"

Include dependency graph for trajectory_planner_nodelet.cpp:

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Macros
#define	_trajectory_planner_nodelet_CPP_

Functions
int	main (int argc, char **argv)
	Main code of the nodelet. More...
void	mtt_callback (mtt::TargetListPC msg)
	Set mtt points. More...
void	set_coordinates (trajectory_planner::coordinates msg)
	Set attractor point coordinates. More...
vector< double >	set_speed_vector (boost::shared_ptr< c_trajectory > t)
	Determine the speed vector. More...

Variables
bool	have_plan =false
std::vector< pcl::PointCloud < pcl::PointXYZ > >	pc_v
bool	plan_trajectory =false
geometry_msgs::PoseStamped	pose_in
geometry_msgs::PoseStamped	pose_transformed

Detailed Description

Uses the c-trajectory class, to publish trajectories and send the message to follow one of them.

Author

Joel Pereira

Version

v0

Date

2012-04-19

Definition in file trajectory_planner_nodelet.cpp.

Macro Definition Documentation

#define _trajectory_planner_nodelet_CPP_

Definition at line 28 of file trajectory_planner_nodelet.cpp.

Function Documentation

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 132 of file trajectory_planner_nodelet.cpp.

void mtt_callback

(

mtt::TargetListPC

msg

)

Set mtt points.

Parameters

mtt::TargetListPC

msg

Returns

void

Definition at line 75 of file trajectory_planner_nodelet.cpp.

void set_coordinates

(

trajectory_planner::coordinates

msg

)

Set attractor point coordinates.

Parameters

trajectory_planner::coordinates

msg

Returns

void

Definition at line 51 of file trajectory_planner_nodelet.cpp.

vector<double> set_speed_vector

(

boost::shared_ptr< c_trajectory >

t

)

Determine the speed vector.

Parameters

c_trajectoryPtr

t

Returns

vector<double>

Definition at line 99 of file trajectory_planner_nodelet.cpp.

Variable Documentation

bool have_plan =false

Definition at line 39 of file trajectory_planner_nodelet.cpp.

std::vector< pcl::PointCloud<pcl::PointXYZ> > pc_v

Definition at line 43 of file trajectory_planner_nodelet.cpp.

bool plan_trajectory =false

Definition at line 38 of file trajectory_planner_nodelet.cpp.

geometry_msgs::PoseStamped pose_in

Definition at line 40 of file trajectory_planner_nodelet.cpp.

geometry_msgs::PoseStamped pose_transformed

Definition at line 41 of file trajectory_planner_nodelet.cpp.