pioneer3at.cpp File Reference

#include <sensor_msgs/Image.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/NavSatFix.h>
#include <signal.h>
#include <std_msgs/String.h>
#include <tf/transform_broadcaster.h>
#include "ros/ros.h"
#include <webots_ros/set_float.h>
#include <webots_ros/set_int.h>

Include dependency graph for pioneer3at.cpp:

Go to the source code of this file.

Macros
#define	BACK_SLOWDOWN   0.9
#define	DECREASE_FACTOR   0.9
#define	MAX_SPEED   6.4
#define	NMOTORS   4
#define	OBSTACLE_THRESHOLD   0.1
#define	TIME_STEP   32

Functions
void	broadcastTransform ()
void	controllerNameCallback (const std_msgs::String::ConstPtr &name)
double	gaussian (double x, double mu, double sigma)
void	GPSCallback (const sensor_msgs::NavSatFix::ConstPtr &values)
void	inertialUnitCallback (const sensor_msgs::Imu::ConstPtr &values)
void	lidarCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
int	main (int argc, char **argv)
void	quit (int sig)
void	updateSpeed ()

Variables
static bool	areBraitenbergCoefficientsinitialized = false
static std::vector< double >	braitenbergCoefficients
static int	controllerCount
static std::vector< std::string >	controllerList
static double	GPSValues [3] = {0, 0, 0}
static int	halfResolution = 0
static double	inertialUnitValues [4] = {0, 0, 0, 0}
static std::vector< float >	lidarValues
static int	lms291Resolution = 0
static double	maxRange = 0.0
static const char *	motorNames [NMOTORS] = {"front_left_wheel", "front_right_wheel", "back_left_wheel", "back_right_wheel"}
ros::NodeHandle *	n
static double	rangeThreshold = 0.0
ros::ServiceClient	timeStepClient
webots_ros::set_int	timeStepSrv

Macro Definition Documentation

#define BACK_SLOWDOWN   0.9

Definition at line 38 of file pioneer3at.cpp.

#define DECREASE_FACTOR   0.9

Definition at line 37 of file pioneer3at.cpp.

#define MAX_SPEED   6.4

Definition at line 35 of file pioneer3at.cpp.

#define NMOTORS   4

Definition at line 34 of file pioneer3at.cpp.

#define OBSTACLE_THRESHOLD   0.1

Definition at line 36 of file pioneer3at.cpp.

#define TIME_STEP   32

Definition at line 33 of file pioneer3at.cpp.

Function Documentation

void broadcastTransform

(

)

Definition at line 108 of file pioneer3at.cpp.

void controllerNameCallback

(

const std_msgs::String::ConstPtr &

name

)

Definition at line 156 of file pioneer3at.cpp.

double gaussian	(	double	x,
		double	mu,
		double	sigma
	)

Definition at line 63 of file pioneer3at.cpp.

void GPSCallback

(

const sensor_msgs::NavSatFix::ConstPtr &

values

)

Definition at line 120 of file pioneer3at.cpp.

void inertialUnitCallback

(

const sensor_msgs::Imu::ConstPtr &

values

)

Definition at line 127 of file pioneer3at.cpp.

void lidarCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 135 of file pioneer3at.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 170 of file pioneer3at.cpp.

void quit

(

int

sig

)

Definition at line 162 of file pioneer3at.cpp.

void updateSpeed

(

)

Definition at line 67 of file pioneer3at.cpp.

Variable Documentation

bool areBraitenbergCoefficientsinitialized = false

static

Definition at line 60 of file pioneer3at.cpp.

std::vector<double> braitenbergCoefficients

static

Definition at line 59 of file pioneer3at.cpp.

int controllerCount

static

Definition at line 44 of file pioneer3at.cpp.

std::vector<std::string> controllerList

static

Definition at line 45 of file pioneer3at.cpp.

double GPSValues[3] = {0, 0, 0}

static

Definition at line 52 of file pioneer3at.cpp.

int halfResolution = 0

static

Definition at line 56 of file pioneer3at.cpp.

double inertialUnitValues[4] = {0, 0, 0, 0}

static

Definition at line 53 of file pioneer3at.cpp.

std::vector<float> lidarValues

static

Definition at line 42 of file pioneer3at.cpp.

int lms291Resolution = 0

static

Definition at line 55 of file pioneer3at.cpp.

double maxRange = 0.0

static

Definition at line 57 of file pioneer3at.cpp.

const char* motorNames[NMOTORS] = {"front_left_wheel", "front_right_wheel", "back_left_wheel", "back_right_wheel"}

static

Definition at line 50 of file pioneer3at.cpp.

ros::NodeHandle* n

Definition at line 40 of file pioneer3at.cpp.

double rangeThreshold = 0.0

static

Definition at line 58 of file pioneer3at.cpp.

ros::ServiceClient timeStepClient

Definition at line 47 of file pioneer3at.cpp.

webots_ros::set_int timeStepSrv

Definition at line 48 of file pioneer3at.cpp.