nxt_assisted_teleop: nxt_assisted_teleop: assisted

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00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ASSISTED_TELEOP_ASSISTED_TELEOP_H_
00038 #define ASSISTED_TELEOP_ASSISTED_TELEOP_H_
00039 #include <ros/ros.h>
00040 #include <geometry_msgs/Twist.h>
00041 #include <costmap_2d/costmap_2d_ros.h>
00042 #include <base_local_planner/trajectory_planner_ros.h>
00043 #include <boost/shared_ptr.hpp>
00044 #include <boost/thread.hpp>
00045 #include <Eigen/Core>
00046 
00047 namespace assisted_teleop {
00048   class AssistedTeleop {
00049     public:
00050       AssistedTeleop();
00051       ~AssistedTeleop();
00052     private:
00053       void velCB(const geometry_msgs::TwistConstPtr& vel);
00054       void controlLoop();
00055 
00056       tf::TransformListener tf_;
00057       costmap_2d::Costmap2DROS costmap_ros_;
00058       double controller_frequency_;
00059       base_local_planner::TrajectoryPlannerROS planner_;
00060       boost::mutex mutex_;
00061       geometry_msgs::Twist cmd_vel_;
00062       boost::thread* planning_thread_;
00063       double theta_range_;
00064       int num_th_samples_, num_x_samples_;
00065       ros::Publisher pub_;
00066       ros::Subscriber sub_;
00067 
00068 
00069   };
00070 };
00071 #endif
assisted_teleop.h
