Uses the c-trajectory class, to publish trajectories and send the message to follow one of them. More...
#include "trajectory_planner_nodelet.h"
Go to the source code of this file.
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 |
Uses the c-trajectory class, to publish trajectories and send the message to follow one of them.
Definition in file trajectory_planner_nodelet.cpp.
#define _trajectory_planner_nodelet_CPP_ |
Definition at line 28 of file trajectory_planner_nodelet.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
int | argc |
char | **argv |
Definition at line 132 of file trajectory_planner_nodelet.cpp.
void mtt_callback | ( | mtt::TargetListPC | msg | ) |
Set mtt points.
mtt::TargetListPC | msg |
Definition at line 75 of file trajectory_planner_nodelet.cpp.
void set_coordinates | ( | trajectory_planner::coordinates | msg | ) |
Set attractor point coordinates.
trajectory_planner::coordinates | msg |
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.
c_trajectoryPtr | t |
Definition at line 99 of file trajectory_planner_nodelet.cpp.
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.