Functions | Variables
state_tf.cpp File Reference
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include "math.h"
#include "corobot_msgs/PosMsg.h"
#include "nav_msgs/Odometry.h"
#include <dynamic_reconfigure/server.h>
#include <corobot_state_tf/corobot_state_tfConfig.h>
#include "utility.h"
Include dependency graph for state_tf.cpp:

Go to the source code of this file.

Functions

void dynamic_reconfigureCallback (corobot_state_tf::corobot_state_tfConfig &config, uint32_t level)
void errorAdjustment (const double dx, const double dth)
int main (int argc, char **argv)
void publish_odometry (ros::Publisher &odom_pub, tf::TransformBroadcaster &odom_broadcaster, tf::TransformBroadcaster &broadcaster)
void setValues ()
void WheelCallback (const corobot_msgs::PosMsg &pos)

Variables

corobot_msgs::PosMsg current
double DistancePerCount
std::vector< float > dists
bool firstTime = true
bool is4WheelDrive
double lengthBetweenTwoWheels
bool odometry_activated = true
corobot_msgs::PosMsg previous
double previous_th = 0
double previous_vth = 0
double previous_vx = 0
double previous_vy = 0
double previous_x = 0
double previous_y = 0
bool publish_odom_tf
double th
bool th_startError = false
Utility u
double x
bool x_startError = false
double y
bool y_startError = false

Function Documentation

Definition at line 192 of file state_tf.cpp.

void errorAdjustment ( const double  dx,
const double  dth 
)

Definition at line 89 of file state_tf.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 318 of file state_tf.cpp.

void publish_odometry ( ros::Publisher odom_pub,
tf::TransformBroadcaster odom_broadcaster,
tf::TransformBroadcaster broadcaster 
)

Publish the odometry and tf messages

Set the velocity values

Definition at line 199 of file state_tf.cpp.

void setValues ( )

This function sets the x, y, th, dx, and dth values

Definition at line 142 of file state_tf.cpp.

void WheelCallback ( const corobot_msgs::PosMsg &  pos)

This function sets the current position message

Definition at line 184 of file state_tf.cpp.


Variable Documentation

corobot_msgs::PosMsg current

Definition at line 78 of file state_tf.cpp.

Definition at line 43 of file state_tf.cpp.

std::vector<float> dists

Definition at line 80 of file state_tf.cpp.

bool firstTime = true

Definition at line 52 of file state_tf.cpp.

Definition at line 55 of file state_tf.cpp.

Definition at line 46 of file state_tf.cpp.

bool odometry_activated = true

Definition at line 61 of file state_tf.cpp.

corobot_msgs::PosMsg previous

Definition at line 77 of file state_tf.cpp.

double previous_th = 0

Definition at line 69 of file state_tf.cpp.

double previous_vth = 0

Definition at line 73 of file state_tf.cpp.

double previous_vx = 0

Definition at line 71 of file state_tf.cpp.

double previous_vy = 0

Definition at line 72 of file state_tf.cpp.

double previous_x = 0

Definition at line 67 of file state_tf.cpp.

double previous_y = 0

Definition at line 68 of file state_tf.cpp.

Definition at line 58 of file state_tf.cpp.

double th

Definition at line 49 of file state_tf.cpp.

bool th_startError = false

Definition at line 85 of file state_tf.cpp.

Definition at line 40 of file state_tf.cpp.

double x

Definition at line 49 of file state_tf.cpp.

bool x_startError = false

Definition at line 83 of file state_tf.cpp.

double y

Definition at line 49 of file state_tf.cpp.

bool y_startError = false

Definition at line 84 of file state_tf.cpp.



corobot_state_tf
Author(s):
autogenerated on Sun Oct 5 2014 23:17:54