trajectory_planner_nodelet.h File Reference

#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 <mtt/TargetListPC.h>
#include <math.h>
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
#include "define_trajectories.h"
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <trajectory_planner/coordinates.h>
#include <geometry_msgs/Pose.h>

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Macros
#define	_D_   0.50
#define	_EXTERN_   extern
#define	_NUM_NODES_   9
#define	_NUM_TRAJ_   20
#define	_VEHICLE_HEIGHT_BOTTOM_   0.055
#define	_VEHICLE_HEIGHT_TOP_   0.66
#define	_VEHICLE_LENGHT_BACK_   0.2
#define	_VEHICLE_LENGHT_FRONT_   0.62
#define	_VEHICLE_WIDTH_   0.42
#define	PFLN   printf("FILE %s LINE %d\n",__FILE__, __LINE__);

Functions
bool	jump_node (double dist_init, int node, c_trajectoryPtr t)
int	main (int argc, char **argv)
	Generates a frame higher than the car frame, to publish the point cloud to the mtt. More...
void	send_command_message (vector< double > speed_setted, int current_node, c_trajectoryPtr t)
vector< double >	set_speed_vector (c_trajectoryPtr t)
	Determine the speed vector. More...
void	StatusMessageHandler (const atlasmv_base::AtlasmvStatus &msg)
	Define message status. More...

Variables
_EXTERN_ ros::Publisher	commandPublisher
_EXTERN_ c_manage_trajectoryPtr	manage_vt
_EXTERN_ tf::TransformListener *	p_listener
_EXTERN_ ros::NodeHandle *	p_n
_EXTERN_ tf::StampedTransform	transform_mtt
_EXTERN_ tf::StampedTransform	transformw

Macro Definition Documentation

#define _D_   0.50

Definition at line 50 of file trajectory_planner_nodelet.h.

#define _EXTERN_   extern

Definition at line 66 of file trajectory_planner_nodelet.h.

#define _NUM_NODES_   9

Definition at line 52 of file trajectory_planner_nodelet.h.

#define _NUM_TRAJ_   20

Definition at line 51 of file trajectory_planner_nodelet.h.

#define _VEHICLE_HEIGHT_BOTTOM_   0.055

Definition at line 55 of file trajectory_planner_nodelet.h.

#define _VEHICLE_HEIGHT_TOP_   0.66

Definition at line 54 of file trajectory_planner_nodelet.h.

#define _VEHICLE_LENGHT_BACK_   0.2

Definition at line 57 of file trajectory_planner_nodelet.h.

#define _VEHICLE_LENGHT_FRONT_   0.62

Definition at line 56 of file trajectory_planner_nodelet.h.

#define _VEHICLE_WIDTH_   0.42

Definition at line 58 of file trajectory_planner_nodelet.h.

#define PFLN   printf("FILE %s LINE %d\n",__FILE__, __LINE__);

Definition at line 49 of file trajectory_planner_nodelet.h.

Function Documentation

bool jump_node	(	double	dist_init,
		int	node,
		c_trajectoryPtr	t
	)

int main	(	int	argc,
		char **	argv
	)

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

Returns

Parameters

int
char**

Returns

int

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 150 of file APgenerator.cpp.

void send_command_message	(	vector< double >	speed_setted,
		int	current_node,
		c_trajectoryPtr	t
	)

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.

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

_EXTERN_ ros::Publisher commandPublisher

Definition at line 85 of file trajectory_planner_nodelet.h.

_EXTERN_ c_manage_trajectoryPtr manage_vt

Definition at line 86 of file trajectory_planner_nodelet.h.

_EXTERN_ tf::TransformListener* p_listener

Definition at line 82 of file trajectory_planner_nodelet.h.

_EXTERN_ ros::NodeHandle* p_n

Definition at line 81 of file trajectory_planner_nodelet.h.

_EXTERN_ tf::StampedTransform transform_mtt

Definition at line 84 of file trajectory_planner_nodelet.h.

_EXTERN_ tf::StampedTransform transformw

Definition at line 83 of file trajectory_planner_nodelet.h.