navigation_master.cpp File Reference

#include "ros/ros.h"
#include "visualization_msgs/MarkerArray.h"
#include "visualization_msgs/Marker.h"
#include "tf/transform_broadcaster.h"
#include "tf/transform_listener.h"
#include "bipedRobin_msgs/InitialStepsService.h"
#include "bipedRobin_msgs/SetModeService.h"
#include "bipedRobin_msgs/StepTarget3DService.h"
#include "std_srvs/Empty.h"
#include "std_msgs/UInt8.h"
#include <string.h>

Include dependency graph for navigation_master.cpp:

Go to the source code of this file.

Defines
#define	DEFAULT_VARIABLE_NUMBER   150
#define	DEFAULT_WORDLENGTH   20 /* multible of 4 and compatible with simulink receiving file */
Functions
void	createMap ()
void	dynamicPlanning ()
bool	dynamicPlanningCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)
void	goalCallback (geometry_msgs::PoseStamped pose)
void	goalpose ()
void	localize ()
int	main (int argc, char **argv)
void	newStepsArrayCallback (const visualization_msgs::MarkerArray markerArray)
void	pub_goal ()
void	replan ()
bool	replanCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)
void	restart ()
void	sendMarker (visualization_msgs::Marker step, tf::StampedTransform map)
void	setdynamicInitialSteps (visualization_msgs::Marker left, visualization_msgs::Marker right, tf::StampedTransform map)
void	setInitialStep ()
void	setInitialSteps (tf::StampedTransform left, tf::StampedTransform right)
void	staticInitialSteps ()
void	staticPlanning ()
bool	staticPlanningCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)
void	stepsLeftCallback (std_msgs::UInt8 stepsLeft)
bool	walkCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)
Variables
ros::ServiceClient	createMap_client
visualization_msgs::MarkerArray	currentFootsteps
geometry_msgs::PoseStamped	currentGoalpose
int	dynamic_left_right = 1
int	dynamicBufferSize = 0
bool	finished = false
bool	first_call_flag = true
ros::ServiceClient	footstep_client
ros::Publisher	goal_pub
ros::ServiceClient	goalpose_client
ros::Subscriber	goalpose_sub
ros::ServiceClient	initialStep_client
ros::ServiceClient	initialSteps_client
bool	isReal
ros::ServiceClient	localize_client
ros::Subscriber	markerArray
bool	newMarkerArray_flag = false
tf::StampedTransform	old_left
tf::StampedTransform	old_right
static tf::TransformBroadcaster *	pBroadcaster = NULL
bool	plan_flag = false
static tf::TransformListener *	pListener = NULL
bool	random_flag = true
ros::ServiceClient	restart_client
bool	sendStep_flag = false
bool	staticPlanner_flag = false
int	stepBufferSize = 0
int	stepsLeftInBuffer = 0
bool	walk_flag = false

---

Define Documentation

#define DEFAULT_VARIABLE_NUMBER   150

Definition at line 22 of file navigation_master.cpp.

#define DEFAULT_WORDLENGTH   20 /* multible of 4 and compatible with simulink receiving file */

Definition at line 23 of file navigation_master.cpp.

---

Function Documentation

void createMap

(

)

Definition at line 82 of file navigation_master.cpp.

void dynamicPlanning

(

)

Definition at line 156 of file navigation_master.cpp.

bool dynamicPlanningCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	res
	)

Definition at line 395 of file navigation_master.cpp.

void goalCallback

(

geometry_msgs::PoseStamped

pose

)

Definition at line 442 of file navigation_master.cpp.

void goalpose

(

)

Definition at line 88 of file navigation_master.cpp.

void localize

(

)

Definition at line 76 of file navigation_master.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 454 of file navigation_master.cpp.

void newStepsArrayCallback

(

const visualization_msgs::MarkerArray

markerArray

)

Definition at line 412 of file navigation_master.cpp.

void pub_goal

(

)

Definition at line 112 of file navigation_master.cpp.

void replan

(

)

Definition at line 100 of file navigation_master.cpp.

bool replanCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	res
	)

Definition at line 449 of file navigation_master.cpp.

void restart

(

)

Definition at line 94 of file navigation_master.cpp.

void sendMarker	(	visualization_msgs::Marker	step,
		tf::StampedTransform	map
	)

Definition at line 124 of file navigation_master.cpp.

void setdynamicInitialSteps	(	visualization_msgs::Marker	left,
		visualization_msgs::Marker	right,
		tf::StampedTransform	map
	)

Definition at line 285 of file navigation_master.cpp.

void setInitialStep

(

)

Definition at line 364 of file navigation_master.cpp.

void setInitialSteps	(	tf::StampedTransform	left,
		tf::StampedTransform	right
	)

Definition at line 335 of file navigation_master.cpp.

void staticInitialSteps

(

)

Definition at line 316 of file navigation_master.cpp.

void staticPlanning

(

)

bool staticPlanningCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	res
	)

Definition at line 384 of file navigation_master.cpp.

void stepsLeftCallback

(

std_msgs::UInt8

stepsLeft

)

Definition at line 433 of file navigation_master.cpp.

bool walkCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	res
	)

Definition at line 406 of file navigation_master.cpp.

---

Variable Documentation

ros::ServiceClient createMap_client

Definition at line 44 of file navigation_master.cpp.

visualization_msgs::MarkerArray currentFootsteps

Definition at line 68 of file navigation_master.cpp.

geometry_msgs::PoseStamped currentGoalpose

Definition at line 69 of file navigation_master.cpp.

int dynamic_left_right = 1

Definition at line 63 of file navigation_master.cpp.

int dynamicBufferSize = 0

Definition at line 65 of file navigation_master.cpp.

bool finished = false

Definition at line 60 of file navigation_master.cpp.

bool first_call_flag = true

Definition at line 55 of file navigation_master.cpp.

ros::ServiceClient footstep_client

Definition at line 45 of file navigation_master.cpp.

ros::Publisher goal_pub

Definition at line 50 of file navigation_master.cpp.

ros::ServiceClient goalpose_client

Definition at line 46 of file navigation_master.cpp.

ros::Subscriber goalpose_sub

Definition at line 49 of file navigation_master.cpp.

ros::ServiceClient initialStep_client

Definition at line 41 of file navigation_master.cpp.

ros::ServiceClient initialSteps_client

Definition at line 42 of file navigation_master.cpp.

bool isReal

Definition at line 53 of file navigation_master.cpp.

ros::ServiceClient localize_client

Definition at line 43 of file navigation_master.cpp.

ros::Subscriber markerArray

Definition at line 48 of file navigation_master.cpp.

bool newMarkerArray_flag = false

Definition at line 56 of file navigation_master.cpp.

tf::StampedTransform old_left

Definition at line 70 of file navigation_master.cpp.

tf::StampedTransform old_right

Definition at line 71 of file navigation_master.cpp.

tf::TransformBroadcaster* pBroadcaster = NULL [static]

Definition at line 74 of file navigation_master.cpp.

bool plan_flag = false

Definition at line 58 of file navigation_master.cpp.

tf::TransformListener* pListener = NULL [static]

Definition at line 73 of file navigation_master.cpp.

bool random_flag = true

Definition at line 61 of file navigation_master.cpp.

ros::ServiceClient restart_client

Definition at line 47 of file navigation_master.cpp.

bool sendStep_flag = false

Definition at line 54 of file navigation_master.cpp.

bool staticPlanner_flag = false

Definition at line 59 of file navigation_master.cpp.

int stepBufferSize = 0

Definition at line 66 of file navigation_master.cpp.

int stepsLeftInBuffer = 0

Definition at line 64 of file navigation_master.cpp.

bool walk_flag = false

Definition at line 57 of file navigation_master.cpp.