Classes | Defines | Typedefs | Functions | Variables
ClearpathTurtleTrain.cpp File Reference
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include "pcl/io/pcd_io.h"
#include <algorithm>
#include <cmath>
#include <iostream>
#include "Eigen/Dense"
#include "Vector3.h"
#include "ClearpathDemoTools.h"
#include "geometry_msgs/Twist.h"
#include "turtlebot_node/SetTurtlebotMode.h"
Include dependency graph for ClearpathTurtleTrain.cpp:

Go to the source code of this file.

Classes

struct  Turtle

Defines

#define MAX_RUNTIME_SECONDS   0.2f

Typedefs

typedef pcl::PointCloud
< PointType
PCLPointCloud
typedef pcl::PointXYZRGB PointType

Functions

void callback (const PCLPointCloud::ConstPtr &cloud)
double distBetweenTurtles (Turtle t1, Turtle t2)
bool FindTurtles (PointCloud *cloud, std::vector< Turtle > *turtles, double radius, double thresh)
bool GetCircleFromRnd2 (PointCloud *cloud, double *xzxz, double radius)
void GetSearchArea (PointCloud *cloud, PointCloud *cloudout, double x, double z, double radius)
int main (int argc, char **argv)

Variables

double ang_speed = 0.2
double ang_speed_gain = 1.0
double angular_vel_correction = 1.0
PointCloud area
double base_normal [4] = {0.0}
double bot_radius = 0.165
double bot_window_size = 0.5
double cam_height = 0.55
PointCloud cloudCopy
PointCloud cloudCut
int debug_draw = 0
PointCloud final
PointCloud inliers
double last_normal [4] = {0.0}
double lin_speed = 0.3
double lin_speed_var = 0.1
double min_stop_dist = 0.9
bool normal_initialized = false
int num_ransac_iter = 500
ros::Publisher pub
ros::Publisher pubvel
double ransac_thresh = 0.02
PointCloud slice
double target_dist = 1.2
double targetX = 0.0
double targetZ = 1.5
PointCloud upright

Define Documentation

#define MAX_RUNTIME_SECONDS   0.2f

Definition at line 21 of file ClearpathTurtleTrain.cpp.


Typedef Documentation

Definition at line 25 of file ClearpathTurtleTrain.cpp.

Definition at line 24 of file ClearpathTurtleTrain.cpp.


Function Documentation

void callback ( const PCLPointCloud::ConstPtr cloud)

Definition at line 210 of file ClearpathTurtleTrain.cpp.

double distBetweenTurtles ( Turtle  t1,
Turtle  t2 
)

Definition at line 132 of file ClearpathTurtleTrain.cpp.

bool FindTurtles ( PointCloud cloud,
std::vector< Turtle > *  turtles,
double  radius,
double  thresh 
)

Definition at line 138 of file ClearpathTurtleTrain.cpp.

bool GetCircleFromRnd2 ( PointCloud cloud,
double *  xzxz,
double  radius 
)

Definition at line 87 of file ClearpathTurtleTrain.cpp.

void GetSearchArea ( PointCloud cloud,
PointCloud cloudout,
double  x,
double  z,
double  radius 
)

Definition at line 73 of file ClearpathTurtleTrain.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 373 of file ClearpathTurtleTrain.cpp.


Variable Documentation

double ang_speed = 0.2

Definition at line 45 of file ClearpathTurtleTrain.cpp.

double ang_speed_gain = 1.0

Definition at line 50 of file ClearpathTurtleTrain.cpp.

double angular_vel_correction = 1.0

Definition at line 42 of file ClearpathTurtleTrain.cpp.

Definition at line 67 of file ClearpathTurtleTrain.cpp.

double base_normal[4] = {0.0}

Definition at line 56 of file ClearpathTurtleTrain.cpp.

double bot_radius = 0.165

Definition at line 48 of file ClearpathTurtleTrain.cpp.

double bot_window_size = 0.5

Definition at line 47 of file ClearpathTurtleTrain.cpp.

double cam_height = 0.55

Definition at line 46 of file ClearpathTurtleTrain.cpp.

Definition at line 64 of file ClearpathTurtleTrain.cpp.

Definition at line 65 of file ClearpathTurtleTrain.cpp.

int debug_draw = 0

Definition at line 40 of file ClearpathTurtleTrain.cpp.

Definition at line 70 of file ClearpathTurtleTrain.cpp.

Definition at line 69 of file ClearpathTurtleTrain.cpp.

double last_normal[4] = {0.0}

Definition at line 57 of file ClearpathTurtleTrain.cpp.

double lin_speed = 0.3

Definition at line 43 of file ClearpathTurtleTrain.cpp.

double lin_speed_var = 0.1

Definition at line 44 of file ClearpathTurtleTrain.cpp.

double min_stop_dist = 0.9

Definition at line 52 of file ClearpathTurtleTrain.cpp.

bool normal_initialized = false

Definition at line 55 of file ClearpathTurtleTrain.cpp.

int num_ransac_iter = 500

Definition at line 41 of file ClearpathTurtleTrain.cpp.

Definition at line 36 of file ClearpathTurtleTrain.cpp.

Definition at line 37 of file ClearpathTurtleTrain.cpp.

double ransac_thresh = 0.02

Definition at line 49 of file ClearpathTurtleTrain.cpp.

Definition at line 68 of file ClearpathTurtleTrain.cpp.

double target_dist = 1.2

Definition at line 51 of file ClearpathTurtleTrain.cpp.

double targetX = 0.0

Definition at line 60 of file ClearpathTurtleTrain.cpp.

double targetZ = 1.5

Definition at line 61 of file ClearpathTurtleTrain.cpp.

Definition at line 66 of file ClearpathTurtleTrain.cpp.

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turtlebot_train
Author(s): Sean Anderson
autogenerated on Wed Jul 17 2013 11:01:25