#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 ()

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`
	)

Definition at line 317 of file pheeno_robot.cpp.

bool PheenoRobot::checkFrontColor ( int color )

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

private

Definition at line 230 of file pheeno_robot.cpp.

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

private

Definition at line 238 of file pheeno_robot.cpp.

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

private

Definition at line 246 of file pheeno_robot.cpp.

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

private

Definition at line 254 of file pheeno_robot.cpp.

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

private

Definition at line 272 of file pheeno_robot.cpp.

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

private

Definition at line 116 of file pheeno_robot.cpp.

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

private

Definition at line 187 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 152 of file pheeno_robot.cpp.

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

private

Definition at line 143 of file pheeno_robot.cpp.

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

private

Definition at line 134 of file pheeno_robot.cpp.

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

private

Definition at line 125 of file pheeno_robot.cpp.

bool PheenoRobot::irSensorTriggered ( float sensor_limits )

Definition at line 162 of file pheeno_robot.cpp.

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

private

Definition at line 262 of file pheeno_robot.cpp.

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

private

Definition at line 207 of file pheeno_robot.cpp.

void PheenoRobot::piCamCallback ( )

private

Definition at line 296 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 304 of file pheeno_robot.cpp.

Member Data Documentation

std::vector<double> PheenoRobot::accelerometer_values_

Definition at line 36 of file pheeno_robot.h.

std::vector<bool> PheenoRobot::color_state_facing_

Definition at line 46 of file pheeno_robot.h.

std::vector<int> PheenoRobot::encoder_values_

Definition at line 33 of file pheeno_robot.h.

std::vector<double> PheenoRobot::gyroscope_values_

Definition at line 35 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_back_

Definition at line 26 of file pheeno_robot.h.

std_msgs::Int16 PheenoRobot::ir_sensor_bottom_

Definition at line 31 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_c_left_

Definition at line 30 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_c_right_

Definition at line 29 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_center_

Definition at line 25 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_left_

Definition at line 28 of file pheeno_robot.h.

std_msgs::Float32 PheenoRobot::ir_sensor_right_

Definition at line 27 of file pheeno_robot.h.

std::vector<double> PheenoRobot::ir_sensor_values_

Definition at line 32 of file pheeno_robot.h.

std::vector<double> PheenoRobot::magnetometer_values_

Definition at line 34 of file pheeno_robot.h.

ros::NodeHandle PheenoRobot::nh_

private

Definition at line 67 of file pheeno_robot.h.

nav_msgs::Odometry PheenoRobot::odom_msg_

Definition at line 39 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_pose_orient_

Definition at line 41 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_pose_position_

Definition at line 40 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_twist_angular_

Definition at line 43 of file pheeno_robot.h.

std::vector<double> PheenoRobot::odom_twist_linear_

Definition at line 42 of file pheeno_robot.h.

std::string PheenoRobot::pheeno_namespace_id_

Definition at line 22 of file pheeno_robot.h.

ros::Publisher PheenoRobot::pub_cmd_vel_

private

Definition at line 88 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_accelerometer_

private

Definition at line 85 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_LL_

private

Definition at line 79 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_LR_

private

Definition at line 80 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_RL_

private

Definition at line 81 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_encoder_RR_

private

Definition at line 82 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_gyroscope_

private

Definition at line 84 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_back_

private

Definition at line 75 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_bottom_

private

Definition at line 76 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_center_

private

Definition at line 70 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_cl_

private

Definition at line 74 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_cr_

private

Definition at line 73 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_left_

private

Definition at line 72 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_ir_right_

private

Definition at line 71 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_magnetometer_

private

Definition at line 83 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_odom_

private

Definition at line 78 of file pheeno_robot.h.

ros::Subscriber PheenoRobot::sub_pheeno_cam_

private

Definition at line 77 of file pheeno_robot.h.

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

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_

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation