biped_teleop.cpp File Reference

#include "ros/ros.h"
#include "visualization_msgs/MarkerArray.h"
#include "visualization_msgs/Marker.h"
#include "geometry_msgs/PoseStamped.h"
#include "tf/transform_broadcaster.h"
#include "tf/transform_listener.h"
#include "biped_robin_msgs/StepTarget3DService.h"
#include "std_srvs/Empty.h"
#include "std_msgs/UInt8.h"
#include <math.h>

Include dependency graph for biped_teleop.cpp:

Go to the source code of this file.

Defines
#define	DEF_LEG_DISTANCE   0.25
#define	MAX_LEG_DISTANCE   0.3
#define	MAX_STEP_ANGLE   3.1415/8
#define	MAX_STEP_LENGTH   0.1
#define	MIN_LEG_DISTANCE   0.22
Functions
tf::Transform	desiredCenterPoint (tf::createQuaternionFromYaw(0), tf::Point(0, 0.271/2, 0))
tf::Transform	desiredLeftLeg (tf::createQuaternionFromYaw(0), tf::Point(0, 0.271, 0))
tf::Transform	desiredRightLeg (tf::createQuaternionFromYaw(0), tf::Point(0, 0, 0))
int	main (int argc, char **argv)
template<typename T >
int	sgn (T val)
void	stepsLeftCallback (std_msgs::UInt8 stepsLeftInBuffer)
void	twistCallback (const geometry_msgs::Twist twist)
void	visualize ()
Variables
int	currentLegToMove = 1
ros::ServiceClient	footstepInc_client
geometry_msgs::PoseStamped	goalViz
ros::Publisher	goalVizPub
ros::Time	lastCallbackTime
bool	sendStep = true
ros::Time	sendStepTime
ros::Time	thisCallbackTime
int	wasWalking = false

---

Define Documentation

#define DEF_LEG_DISTANCE   0.25

Definition at line 19 of file biped_teleop.cpp.

#define MAX_LEG_DISTANCE   0.3

Definition at line 21 of file biped_teleop.cpp.

#define MAX_STEP_ANGLE   3.1415/8

Definition at line 24 of file biped_teleop.cpp.

#define MAX_STEP_LENGTH   0.1

Definition at line 23 of file biped_teleop.cpp.

#define MIN_LEG_DISTANCE   0.22

Definition at line 20 of file biped_teleop.cpp.

---

Function Documentation

tf::Transform desiredCenterPoint	(	tf::	createQuaternionFromYaw0,
		tf::	Point0, 0.271/2, 0
	)

tf::Transform desiredLeftLeg	(	tf::	createQuaternionFromYaw0,
		tf::	Point0, 0.271, 0
	)

tf::Transform desiredRightLeg	(	tf::	createQuaternionFromYaw0,
		tf::	Point0, 0, 0
	)

int main	(	int	argc,
		char **	argv
	)

Definition at line 165 of file biped_teleop.cpp.

template<typename T >

int sgn

(

T

val

)

Definition at line 44 of file biped_teleop.cpp.

void stepsLeftCallback

(

std_msgs::UInt8

stepsLeftInBuffer

)

Definition at line 155 of file biped_teleop.cpp.

void twistCallback

(

const geometry_msgs::Twist

twist

)

Definition at line 66 of file biped_teleop.cpp.

void visualize

(

)

Definition at line 48 of file biped_teleop.cpp.

---

Variable Documentation

int currentLegToMove = 1

Definition at line 31 of file biped_teleop.cpp.

ros::ServiceClient footstepInc_client

Definition at line 26 of file biped_teleop.cpp.

geometry_msgs::PoseStamped goalViz

Definition at line 29 of file biped_teleop.cpp.

ros::Publisher goalVizPub

Definition at line 27 of file biped_teleop.cpp.

ros::Time lastCallbackTime

Definition at line 35 of file biped_teleop.cpp.

bool sendStep = true

Definition at line 32 of file biped_teleop.cpp.

ros::Time sendStepTime

Definition at line 37 of file biped_teleop.cpp.

ros::Time thisCallbackTime

Definition at line 36 of file biped_teleop.cpp.

int wasWalking = false

Definition at line 33 of file biped_teleop.cpp.