PheenoRobot Class Reference

#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_vals_
std::vector< bool >	color_state_facing_
std::vector< int >	encoder_vals_
std::vector< double >	gyroscope_vals_
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_vals_
std::vector< double >	magnetometer_vals_
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 35 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 276 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 374 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
	)

Definition at line 311 of file pheeno_robot.cpp.

bool PheenoRobot::checkFrontColor

(

int

color

)

void PheenoRobot::encoderLLCallback ( const std_msgs::Int16::ConstPtr &  msg )

private

Definition at line 224 of file pheeno_robot.cpp.

void PheenoRobot::encoderLRCallback ( const std_msgs::Int16::ConstPtr &  msg )

private

Definition at line 232 of file pheeno_robot.cpp.

void PheenoRobot::encoderRLCallback ( const std_msgs::Int16::ConstPtr &  msg )

private

Definition at line 240 of file pheeno_robot.cpp.

void PheenoRobot::encoderRRCallback ( const std_msgs::Int16::ConstPtr &  msg )

private

Definition at line 248 of file pheeno_robot.cpp.

void PheenoRobot::gyroscopeCallback ( const geometry_msgs::Vector3::ConstPtr &  msg )

private

Definition at line 266 of file pheeno_robot.cpp.

void PheenoRobot::irSensorBackCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 115 of file pheeno_robot.cpp.

void PheenoRobot::irSensorBottomCallback ( const std_msgs::Int16::ConstPtr &  msg )

private

Definition at line 181 of file pheeno_robot.cpp.

void PheenoRobot::irSensorCenterCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 107 of file pheeno_robot.cpp.

void PheenoRobot::irSensorCLeftCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 147 of file pheeno_robot.cpp.

void PheenoRobot::irSensorCRightCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 139 of file pheeno_robot.cpp.

void PheenoRobot::irSensorLeftCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 131 of file pheeno_robot.cpp.

void PheenoRobot::irSensorRightCallback ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 123 of file pheeno_robot.cpp.

bool PheenoRobot::irSensorTriggered

(

float

sensor_limits

)

Definition at line 156 of file pheeno_robot.cpp.

void PheenoRobot::magnetometerCallback ( const geometry_msgs::Vector3::ConstPtr &  msg )

private

Definition at line 256 of file pheeno_robot.cpp.

void PheenoRobot::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg )

private

Definition at line 201 of file pheeno_robot.cpp.

void PheenoRobot::piCamCallback ( )

private

Definition at line 290 of file pheeno_robot.cpp.

void PheenoRobot::publish

(

geometry_msgs::Twist

velocity

)

Definition at line 99 of file pheeno_robot.cpp.

double PheenoRobot::randomTurn

(

float

angular = 0.06

)

Definition at line 298 of file pheeno_robot.cpp.

Member Data Documentation

std::vector<double> PheenoRobot::accelerometer_vals_

Definition at line 57 of file pheeno_robot.h.

std::vector<bool> PheenoRobot::color_state_facing_

Definition at line 67 of file pheeno_robot.h.

std::vector<int> PheenoRobot::encoder_vals_

Definition at line 54 of file pheeno_robot.h.

std::vector<double> PheenoRobot::gyroscope_vals_

Definition at line 56 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_back_

Definition at line 47 of file pheeno_robot.h.

std_msgs::Int16 PheenoRobot::ir_sensor_bottom_

Definition at line 52 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_c_left_

Definition at line 51 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_c_right_

Definition at line 50 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_center_

Definition at line 46 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_left_

Definition at line 49 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_right_

Definition at line 48 of file pheeno_robot.h.

std::vector<double> PheenoRobot::ir_sensor_vals_

Definition at line 53 of file pheeno_robot.h.

std::vector<double> PheenoRobot::magnetometer_vals_

Definition at line 55 of file pheeno_robot.h.

ros::NodeHandle PheenoRobot::nh_

private

Definition at line 88 of file pheeno_robot.h.

nav_msgs::Odometry PheenoRobot::odom_msg_

Definition at line 60 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_pose_orient_

Definition at line 62 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_pose_position_

Definition at line 61 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_twist_angular_

Definition at line 64 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_twist_linear_

Definition at line 63 of file pheeno_robot.h.

std::string PheenoRobot::pheeno_namespace_id_

Definition at line 43 of file pheeno_robot.h.

ros::Publisher PheenoRobot::pub_cmd_vel_

private

Definition at line 109 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_accelerometer_

private

Definition at line 106 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_LL_

private

Definition at line 100 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_LR_

private

Definition at line 101 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_RL_

private

Definition at line 102 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_RR_

private

Definition at line 103 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_gyroscope_

private

Definition at line 105 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_back_

private

Definition at line 96 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_bottom_

private

Definition at line 97 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_center_

private

Definition at line 91 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_cl_

private

Definition at line 95 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_cr_

private

Definition at line 94 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_left_

private

Definition at line 93 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_right_

private

Definition at line 92 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_magnetometer_

private

Definition at line 104 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_odom_

private

Definition at line 99 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_pheeno_cam_

private

Definition at line 98 of file pheeno_robot.h.

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The documentation for this class was generated from the following files:

• pheeno_robot.h
• pheeno_robot.cpp