#include <math.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <tf/transform_broadcaster.h>
#include <kdl/frames.hpp>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>
#include <nao_ctrl/MotionCommandBtn.h>
#include <nao_ctrl/HeadAngles.h>
#include <XnOpenNI.h>
#include <XnCodecIDs.h>
#include <XnCppWrapper.h>

Include dependency graph for teleop_nao_ni.cpp:

Classes
class	TeleopNaoNi
Defines
#define	CHECK_RC(nRetVal, what)
#define	control_dist 300.0
#define	control_rot 1.57
#define	my_pi 3.141592653589793
#define	rot_constant 0.04
#define	rotating_speed 0.3
#define	safety_dist 200.0
#define	safety_rot 0.3
#define	walking_speed 0.3
Functions
void	checkPose (TeleopNaoNi &obj)
float	getAngleBetweenLimbs (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2, XnSkeletonJoint const &eJoint3, XnSkeletonJoint const &eJoint4)
XnPoint3D	getBodyLoc (XnUserID const &user, XnSkeletonJoint const &eJoint1)
float	getLimbAngle (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2, XnSkeletonJoint const &eJoint3)
float	getTorsoRotation (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2)
int	main (int argc, char **argv)
void	stopWalking (TeleopNaoNi &robot)
void XN_CALLBACK_TYPE	User_LostUser (xn::UserGenerator &generator, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	User_NewUser (xn::UserGenerator &generator, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	UserCalibration_CalibrationEnd (xn::SkeletonCapability &capability, XnUserID nId, XnBool bSuccess, void *pCookie)
void XN_CALLBACK_TYPE	UserCalibration_CalibrationStart (xn::SkeletonCapability &capability, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	UserPose_PoseDetected (xn::PoseDetectionCapability &capability, XnChar const strPose, XnUserID nId, void pCookie)
Variables
float	anterior_control_line = 0.0
float	anterior_safe_line = 0.0
float	control_angle = 0.0
XnBool	g_bNeedPose = FALSE
xn::Context	g_Context
xn::DepthGenerator	g_DepthGenerator
XnChar	g_strPose [20] = ""
xn::UserGenerator	g_UserGenerator
XnPoint3D	init_usr_loc
XnPoint3D	init_usr_LS
XnPoint3D	init_usr_RS
float	left_control_line = 0.0
float	left_safe_line = 0.0
std_msgs::String	naosay
float	posterior_control_line = 0.0
float	posterior_safe_line = 0.0
float	right_control_line = 0.0
float	right_safe_line = 0.0
float	safe_angle = 0.0

Define Documentation

#define CHECK_RC	(	nRetVal,
		what
	)

Value:

if (nRetVal != XN_STATUS_OK)                                            \
    {                                                                   \
      printf("%s failed: %s\n", what, xnGetStatusString(nRetVal));      \
      return nRetVal;                                                   \
    }

Definition at line 155 of file teleop_nao_ni.cpp.

#define control_dist 300.0

Definition at line 166 of file teleop_nao_ni.cpp.

#define control_rot 1.57

Definition at line 169 of file teleop_nao_ni.cpp.

#define my_pi 3.141592653589793

Definition at line 162 of file teleop_nao_ni.cpp.

#define rot_constant 0.04

Definition at line 172 of file teleop_nao_ni.cpp.

#define rotating_speed 0.3

Definition at line 164 of file teleop_nao_ni.cpp.

#define safety_dist 200.0

Definition at line 167 of file teleop_nao_ni.cpp.

#define safety_rot 0.3

Definition at line 170 of file teleop_nao_ni.cpp.

#define walking_speed 0.3

Definition at line 163 of file teleop_nao_ni.cpp.

Function Documentation

void checkPose ( TeleopNaoNi & obj )

Definition at line 585 of file teleop_nao_ni.cpp.

float getAngleBetweenLimbs	(	XnUserID const &	user,
		XnSkeletonJoint const &	eJoint1,
		XnSkeletonJoint const &	eJoint2,
		XnSkeletonJoint const &	eJoint3,
		XnSkeletonJoint const &	eJoint4
	)