#include <pheeno_robot.h>

Public Member Functions
void	avoidObstaclesAngular (double &angular, double &random_turn_value, float angular_velocity=1.2, double range_to_avoid=20.0)
void	avoidObstaclesLinear (double &linear, double &angular, float angular_velocity=1.2, float linear_velocity=0.08, double range_to_avoid=20.0)
bool	checkFrontColor (int color)
bool	irSensorTriggered (float sensor_limits)
	PheenoRobot (std::string pheeno_name)
void	publish (geometry_msgs::Twist velocity)
double	randomTurn (float angular=0.06)
Public Attributes
std::vector< double >	accelerometer_values
std::vector< bool >	color_state_facing
std::vector< int >	encoder_values
std::vector< double >	gyroscope_values
std_msgs::Float32	ir_sensor_back
std_msgs::Int16	ir_sensor_bottom
std_msgs::Float32	ir_sensor_c_left
std_msgs::Float32	ir_sensor_c_right
std_msgs::Float32	ir_sensor_center
std_msgs::Float32	ir_sensor_left
std_msgs::Float32	ir_sensor_right
std::vector< double >	ir_sensor_values
std::vector< double >	magnetometer_values
nav_msgs::Odometry	odom_msg
std::vector< double >	odom_pose_orient
std::vector< double >	odom_pose_position
std::vector< double >	odom_twist_angular
std::vector< double >	odom_twist_linear
std::string	pheeno_namespace_id
Private Member Functions
void	accelerometerCallback (const geometry_msgs::Vector3::ConstPtr &msg)
void	encoderLLCallback (const std_msgs::Int16::ConstPtr &msg)
void	encoderLRCallback (const std_msgs::Int16::ConstPtr &msg)
void	encoderRLCallback (const std_msgs::Int16::ConstPtr &msg)
void	encoderRRCallback (const std_msgs::Int16::ConstPtr &msg)
void	gyroscopeCallback (const geometry_msgs::Vector3::ConstPtr &msg)
void	irSensorBackCallback (const std_msgs::Float32::ConstPtr &msg)
void	irSensorBottomCallback (const std_msgs::Int16::ConstPtr &msg)
void	irSensorCenterCallback (const std_msgs::Float32::ConstPtr &msg)
void	irSensorCLeftCallback (const std_msgs::Float32::ConstPtr &msg)
void	irSensorCRightCallback (const std_msgs::Float32::ConstPtr &msg)
void	irSensorLeftCallback (const std_msgs::Float32::ConstPtr &msg)
void	irSensorRightCallback (const std_msgs::Float32::ConstPtr &msg)
void	magnetometerCallback (const geometry_msgs::Vector3::ConstPtr &msg)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	piCamCallback ()
Private Attributes
ros::NodeHandle	nh_
ros::Publisher	pub_cmd_vel_
ros::Subscriber	sub_accelerometer_
ros::Subscriber	sub_encoder_LL_
ros::Subscriber	sub_encoder_LR_
ros::Subscriber	sub_encoder_RL_
ros::Subscriber	sub_encoder_RR_
ros::Subscriber	sub_gyroscope_
ros::Subscriber	sub_ir_back_
ros::Subscriber	sub_ir_bottom_
ros::Subscriber	sub_ir_center_
ros::Subscriber	sub_ir_cl_
ros::Subscriber	sub_ir_cr_
ros::Subscriber	sub_ir_left_
ros::Subscriber	sub_ir_right_
ros::Subscriber	sub_magnetometer_
ros::Subscriber	sub_odom_
ros::Subscriber	sub_pheeno_cam_

Detailed Description

Definition at line 14 of file pheeno_robot.h.

Constructor & Destructor Documentation

PheenoRobot::PheenoRobot ( std::string pheeno_name )

Definition at line 20 of file pheeno_robot.cpp.

Member Function Documentation

void PheenoRobot::accelerometerCallback ( const geometry_msgs::Vector3::ConstPtr & msg ) [private]

Definition at line 282 of file pheeno_robot.cpp.

void PheenoRobot::avoidObstaclesAngular	(	double &	angular,
		double &	random_turn_value,
		float	angular_velocity = `1.2`,
		double	range_to_avoid = `20.0`
	)

Definition at line 380 of file pheeno_robot.cpp.

void PheenoRobot::avoidObstaclesLinear	(	double &	linear,
		double &	angular,
		float	angular_velocity = `1.2`,
		float	linear_velocity = `0.08`,
		double	range_to_avoid = `20.0`
	)