WanderingNode.cpp File Reference

#include <iostream>
#include <time.h>
#include <numeric>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/foreach.hpp>
#include <boost/lambda/lambda.hpp>
#include <boost/date_time.hpp>
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/Twist.h>
#include "Wandering.h"

Include dependency graph for WanderingNode.cpp:

Go to the source code of this file.

Defines
#define	foreach   BOOST_FOREACH
Functions
int	countRanges (const sensor_msgs::LaserScan::Ptr &scan, int center, int range, double lessThan)
decision_making::TaskResult	drive (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
decision_making::TaskResult	driveBackward (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
double	getAverage (int centerRange, int rangeSize, const sensor_msgs::LaserScan::Ptr &scan)
int	main (int argc, char **argv)
void	onLaserScan (const sensor_msgs::LaserScan::Ptr scan, EventQueue *q)
bool	preemptiveWait (double ms, decision_making::EventQueue &queue)
bool	preemptiveWait (double minMs, double maxMs, decision_making::EventQueue &queue)
void	publishVelocity (double linear, double angular)
decision_making::TaskResult	stopRobot (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
decision_making::TaskResult	turnLeft (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
decision_making::TaskResult	turnRandom (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
decision_making::TaskResult	turnRight (std::string, const decision_making::FSMCallContext &c, decision_making::EventQueue &e)
Variables
ros::Subscriber	laserSub
ros::NodeHandle *	node
ros::Publisher	velocityPub

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Define Documentation

#define foreach   BOOST_FOREACH

Definition at line 46 of file WanderingNode.cpp.

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Function Documentation

int countRanges	(	const sensor_msgs::LaserScan::Ptr &	scan,
		int	center,
		int	range,
		double	lessThan
	)

Definition at line 92 of file WanderingNode.cpp.

decision_making::TaskResult drive	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 167 of file WanderingNode.cpp.

decision_making::TaskResult driveBackward	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 177 of file WanderingNode.cpp.

double getAverage	(	int	centerRange,
		int	rangeSize,
		const sensor_msgs::LaserScan::Ptr &	scan
	)

Definition at line 85 of file WanderingNode.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 187 of file WanderingNode.cpp.

void onLaserScan	(	const sensor_msgs::LaserScan::Ptr	scan,
		EventQueue *	q
	)

Definition at line 98 of file WanderingNode.cpp.

bool preemptiveWait	(	double	ms,
		decision_making::EventQueue &	queue
	)

Preemptive wait

Parameters:

ms	Milliseconds to wait
queue	EventQueue

Returns:

True if preempted

Definition at line 67 of file WanderingNode.cpp.

bool preemptiveWait	(	double	minMs,
		double	maxMs,
		decision_making::EventQueue &	queue
	)

Preemptive wait

Parameters:

ms	Milliseconds to wait
queue	EventQueue

Returns:

True if preempted

Definition at line 80 of file WanderingNode.cpp.

void publishVelocity	(	double	linear,
		double	angular
	)

Definition at line 52 of file WanderingNode.cpp.

decision_making::TaskResult stopRobot	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 129 of file WanderingNode.cpp.

decision_making::TaskResult turnLeft	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 144 of file WanderingNode.cpp.

decision_making::TaskResult turnRandom	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 154 of file WanderingNode.cpp.

decision_making::TaskResult turnRight	(	std::string	,
		const decision_making::FSMCallContext &	c,
		decision_making::EventQueue &	e
	)

Definition at line 134 of file WanderingNode.cpp.

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Variable Documentation

ros::Subscriber laserSub

Definition at line 48 of file WanderingNode.cpp.

ros::NodeHandle* node

Definition at line 50 of file WanderingNode.cpp.

ros::Publisher velocityPub

Definition at line 49 of file WanderingNode.cpp.