ClearpathTurtleTrain.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 ClearpathTurtleTrain.cpp:

Go to the source code of this file.

Classes
struct	Turtle
Defines
#define	MAX_RUNTIME_SECONDS   0.2f
Typedefs
typedef pcl::PointCloud < PointType >	PCLPointCloud
typedef pcl::PointXYZRGB	PointType
Functions
void	callback (const PCLPointCloud::ConstPtr &cloud)
double	distBetweenTurtles (Turtle t1, Turtle t2)
bool	FindTurtles (PointCloud *cloud, std::vector< Turtle > *turtles, double radius, double thresh)
bool	GetCircleFromRnd2 (PointCloud *cloud, double *xzxz, double radius)
void	GetSearchArea (PointCloud *cloud, PointCloud *cloudout, double x, double z, double radius)
int	main (int argc, char **argv)
Variables
double	ang_speed = 0.2
double	ang_speed_gain = 1.0
double	angular_vel_correction = 1.0
PointCloud	area
double	base_normal [4] = {0.0}
double	bot_radius = 0.165
double	bot_window_size = 0.5
double	cam_height = 0.55
PointCloud	cloudCopy
PointCloud	cloudCut
int	debug_draw = 0
PointCloud	final
PointCloud	inliers
double	last_normal [4] = {0.0}
double	lin_speed = 0.3
double	lin_speed_var = 0.1
double	min_stop_dist = 0.9
bool	normal_initialized = false
int	num_ransac_iter = 500
ros::Publisher	pub
ros::Publisher	pubvel
double	ransac_thresh = 0.02
PointCloud	slice
double	target_dist = 1.2
double	targetX = 0.0
double	targetZ = 1.5
PointCloud	upright

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Define Documentation

#define MAX_RUNTIME_SECONDS   0.2f

Definition at line 21 of file ClearpathTurtleTrain.cpp.

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Typedef Documentation

typedef pcl::PointCloud<PointType> PCLPointCloud

Definition at line 25 of file ClearpathTurtleTrain.cpp.

typedef pcl::PointXYZRGB PointType

Definition at line 24 of file ClearpathTurtleTrain.cpp.

---

Function Documentation

void callback

(

const PCLPointCloud::ConstPtr &

cloud

)

Definition at line 210 of file ClearpathTurtleTrain.cpp.

double distBetweenTurtles	(	Turtle	t1,
		Turtle	t2
	)

Definition at line 132 of file ClearpathTurtleTrain.cpp.

bool FindTurtles	(	PointCloud *	cloud,
		std::vector< Turtle > *	turtles,
		double	radius,
		double	thresh
	)

Definition at line 138 of file ClearpathTurtleTrain.cpp.

bool GetCircleFromRnd2	(	PointCloud *	cloud,
		double *	xzxz,
		double	radius
	)

Definition at line 87 of file ClearpathTurtleTrain.cpp.

void GetSearchArea	(	PointCloud *	cloud,
		PointCloud *	cloudout,
		double	x,
		double	z,
		double	radius
	)

Definition at line 73 of file ClearpathTurtleTrain.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 373 of file ClearpathTurtleTrain.cpp.

---

Variable Documentation

double ang_speed = 0.2

Definition at line 45 of file ClearpathTurtleTrain.cpp.

double ang_speed_gain = 1.0

Definition at line 50 of file ClearpathTurtleTrain.cpp.

double angular_vel_correction = 1.0

Definition at line 42 of file ClearpathTurtleTrain.cpp.

PointCloud area

Definition at line 67 of file ClearpathTurtleTrain.cpp.

double base_normal[4] = {0.0}

Definition at line 56 of file ClearpathTurtleTrain.cpp.

double bot_radius = 0.165

Definition at line 48 of file ClearpathTurtleTrain.cpp.

double bot_window_size = 0.5

Definition at line 47 of file ClearpathTurtleTrain.cpp.

double cam_height = 0.55

Definition at line 46 of file ClearpathTurtleTrain.cpp.

PointCloud cloudCopy

Definition at line 64 of file ClearpathTurtleTrain.cpp.

PointCloud cloudCut

Definition at line 65 of file ClearpathTurtleTrain.cpp.

int debug_draw = 0

Definition at line 40 of file ClearpathTurtleTrain.cpp.

PointCloud final

Definition at line 70 of file ClearpathTurtleTrain.cpp.

PointCloud inliers

Definition at line 69 of file ClearpathTurtleTrain.cpp.

double last_normal[4] = {0.0}

Definition at line 57 of file ClearpathTurtleTrain.cpp.

double lin_speed = 0.3

Definition at line 43 of file ClearpathTurtleTrain.cpp.

double lin_speed_var = 0.1

Definition at line 44 of file ClearpathTurtleTrain.cpp.

double min_stop_dist = 0.9

Definition at line 52 of file ClearpathTurtleTrain.cpp.

bool normal_initialized = false

Definition at line 55 of file ClearpathTurtleTrain.cpp.

int num_ransac_iter = 500

Definition at line 41 of file ClearpathTurtleTrain.cpp.

ros::Publisher pub

Definition at line 36 of file ClearpathTurtleTrain.cpp.

ros::Publisher pubvel

Definition at line 37 of file ClearpathTurtleTrain.cpp.

double ransac_thresh = 0.02

Definition at line 49 of file ClearpathTurtleTrain.cpp.

PointCloud slice

Definition at line 68 of file ClearpathTurtleTrain.cpp.

double target_dist = 1.2

Definition at line 51 of file ClearpathTurtleTrain.cpp.

double targetX = 0.0

Definition at line 60 of file ClearpathTurtleTrain.cpp.

double targetZ = 1.5

Definition at line 61 of file ClearpathTurtleTrain.cpp.

PointCloud upright

Definition at line 66 of file ClearpathTurtleTrain.cpp.