Go to the documentation of this file.00001 #ifndef _trajectory_planner_nodelet_H_
00002 #define _trajectory_planner_nodelet_H_
00003
00004 #include <ros/ros.h>
00005 #include <trajectory_planner/c_trajectory.h>
00006 #include <trajectory_planner/c_manage_trajectory.h>
00007 #include <atlasmv_base/AtlasmvStatus.h>
00008 #include <atlasmv_base/AtlasmvMotionCommand.h>
00009 #include <pcl/ros/conversions.h>
00010 #include <pcl/point_cloud.h>
00011 #include <pcl/point_types.h>
00012 #include <mtt/TargetList.h>
00013 #include <math.h>
00014 #include <boost/lexical_cast.hpp>
00015 #include <boost/format.hpp>
00016 #include "define_trajectories.h"
00017 #include <tf/transform_broadcaster.h>
00018 #include <tf/transform_listener.h>
00019 #include <trajectory_planner/coordinates.h>
00020 #include <geometry_msgs/Pose.h>
00021
00022
00023 #define PFLN printf("FILE %s LINE %d\n",__FILE__, __LINE__);
00024 #define _D_ 0.50
00025 #define _NUM_TRAJ_ 5
00026 #define _NUM_NODES_ 9
00027
00028 #define _VEHICLE_HEIGHT_TOP_ 0.66
00029 #define _VEHICLE_HEIGHT_BOTTOM_ 0.055
00030 #define _VEHICLE_LENGHT_FRONT_ 0.62
00031 #define _VEHICLE_LENGHT_BACK_ 0.2
00032 #define _VEHICLE_WIDTH_ 0.42
00033
00034
00035 using namespace visualization_msgs;
00036
00037 #ifdef _trajectory_planner_nodelet_CPP_
00038 #define _EXTERN_
00039 #else
00040 #define _EXTERN_ extern
00041 #endif
00042
00043
00044
00045
00046
00047
00048 void StatusMessageHandler(const atlasmv_base::AtlasmvStatus& msg);
00049 int main(int argc, char **argv);
00050 vector<double> set_speed_vector(c_trajectoryPtr t);
00051 bool jump_node(double dist_init,int node, c_trajectoryPtr t);
00052 void send_command_message(vector<double> speed_setted,int current_node, c_trajectoryPtr t);
00053
00054
00055 _EXTERN_ ros::NodeHandle* p_n;
00056 _EXTERN_ tf::TransformListener *p_listener;
00057 _EXTERN_ tf::StampedTransform transformw;
00058 _EXTERN_ tf::StampedTransform transform_mtt;
00059 _EXTERN_ ros::Publisher commandPublisher;
00060 _EXTERN_ c_manage_trajectoryPtr manage_vt;
00061
00062 #endif