ClearpathTurtleRndmWalk.cpp File Reference

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include "pcl/io/pcd_io.h"
#include <algorithm>
#include <cmath>
#include <iostream>
#include "Eigen/Dense"
#include "Vector3.h"
#include "ClearpathDemoTools.h"
#include "geometry_msgs/Twist.h"
#include "turtlebot_node/SetTurtlebotMode.h"

Include dependency graph for ClearpathTurtleRndmWalk.cpp:

Go to the source code of this file.

Defines
#define	MAX_RUNTIME_SECONDS   0.1f
Typedefs
typedef pcl::PointCloud < PointType >	PCLPointCloud
typedef pcl::PointXYZRGB	PointType
Functions
void	callback (const PCLPointCloud::ConstPtr &cloud)
int	main (int argc, char **argv)
Variables
double	ang_speed = 0.75
double	base_normal [4] = {0.0}
double	cam_height = 0.55
PointCloud	cloudCopy
PointCloud	cloudCut
double	last_normal [4] = {0.0}
double	lin_speed = 0.3
double	my_ang_speed = 0.0
bool	normal_initialized = false
ros::Publisher	pubvel
PointCloud	slice
double	start_command = 0.0
double	still_ang_speed = 2.0
double	stop_distance = 0.8
bool	stop_mode = false
int	stop_point_count = 50
double	turn_time = 0.0
PointCloud	upright

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Define Documentation

#define MAX_RUNTIME_SECONDS   0.1f

Definition at line 21 of file ClearpathTurtleRndmWalk.cpp.

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Typedef Documentation

typedef pcl::PointCloud<PointType> PCLPointCloud

Definition at line 25 of file ClearpathTurtleRndmWalk.cpp.

typedef pcl::PointXYZRGB PointType

Definition at line 24 of file ClearpathTurtleRndmWalk.cpp.

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Function Documentation

void callback

(

const PCLPointCloud::ConstPtr &

cloud

)

Definition at line 58 of file ClearpathTurtleRndmWalk.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 166 of file ClearpathTurtleRndmWalk.cpp.

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Variable Documentation

double ang_speed = 0.75

Definition at line 32 of file ClearpathTurtleRndmWalk.cpp.

double base_normal[4] = {0.0}

Definition at line 40 of file ClearpathTurtleRndmWalk.cpp.

double cam_height = 0.55

Definition at line 34 of file ClearpathTurtleRndmWalk.cpp.

PointCloud cloudCopy

Definition at line 44 of file ClearpathTurtleRndmWalk.cpp.

PointCloud cloudCut

Definition at line 45 of file ClearpathTurtleRndmWalk.cpp.

double last_normal[4] = {0.0}

Definition at line 41 of file ClearpathTurtleRndmWalk.cpp.

double lin_speed = 0.3

Definition at line 31 of file ClearpathTurtleRndmWalk.cpp.

double my_ang_speed = 0.0

Definition at line 54 of file ClearpathTurtleRndmWalk.cpp.

bool normal_initialized = false

Definition at line 39 of file ClearpathTurtleRndmWalk.cpp.

ros::Publisher pubvel

Definition at line 28 of file ClearpathTurtleRndmWalk.cpp.

PointCloud slice

Definition at line 47 of file ClearpathTurtleRndmWalk.cpp.

double start_command = 0.0

Definition at line 50 of file ClearpathTurtleRndmWalk.cpp.

double still_ang_speed = 2.0

Definition at line 33 of file ClearpathTurtleRndmWalk.cpp.

double stop_distance = 0.8

Definition at line 35 of file ClearpathTurtleRndmWalk.cpp.

bool stop_mode = false

Definition at line 55 of file ClearpathTurtleRndmWalk.cpp.

int stop_point_count = 50

Definition at line 36 of file ClearpathTurtleRndmWalk.cpp.

double turn_time = 0.0

Definition at line 51 of file ClearpathTurtleRndmWalk.cpp.

PointCloud upright

Definition at line 46 of file ClearpathTurtleRndmWalk.cpp.