Classes
class	Agent
struct	ConvexHullPoint
struct	Line
struct	Obstacle
class	ROSAgent
class	Vector2
struct	VelocitySample
struct	VO
Typedefs
typedef boost::shared_ptr< Agent >	AgentPtr
typedef boost::shared_ptr < ROSAgent >	ROSAgentPtr
Functions
double	abs (const Vector2 &vector)
double	absSqr (const Vector2 &vector)
void	addAccelerationConstraintsXY (double max_vel_x, double acc_lim_x, double max_vel_y, double acc_lim_y, Vector2 cur_vel, double heading, double sim_period, bool holo_robot, std::vector< Line > &additional_orca_lines)
void	addCircleLineIntersections (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, const Vector2 &point, const Vector2 &dir)
void	addIntersectPoint (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, Vector2 point, const std::vector< VO > &truncated_vos)
void	addMovementConstraintsDiff (double error, double T, double max_vel_x, double max_vel_th, double heading, double v_max_ang, std::vector< Line > &additional_orca_lines)
void	addMovementConstraintsDiffSimple (double max_track_speed, double heading, std::vector< Line > &additional_orca_lines)
void	addRayVelocitySamples (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2, double max_speed, int TYPE)
void	amclPoseArrayWeightedCallback (const amcl::PoseArrayWeighted::ConstPtr &msg)
double	angleBetween (const Vector2 &one, const Vector2 &two)
double	atan (const Vector2 &vector)
double	beta (double T, double theta, double v_max_ang)
double	CalcArea (std::vector< Vector2 > list)
Vector2	calculateClearpathVelocity (std::vector< VelocitySample > &samples, const std::vector< VO > &truncated_vos, const std::vector< Line > &additional_constraints, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double	calculateMaxTrackSpeedAngle (double T, double theta, double error, double max_vel_x, double max_vel_th, double v_max_ang)
Vector2	calculateNewVelocitySampled (std::vector< VelocitySample > &samples, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double	calculateVelCosts (const Vector2 &test_vel, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double	calcVstar (double vh, double theta)
double	calcVstarError (double T, double theta, double error)
bool	compareConvexHullPointsPosition (const ConvexHullPoint &p1, const ConvexHullPoint &p2)
bool	comparePoint (const Vector2 &p1, const Vector2 &p2)
bool	compareVectorsLexigraphically (const ConvexHullPoint &v1, const ConvexHullPoint &v2)
bool	compareVelocitySamples (const VelocitySample &p1, const VelocitySample &p2)
void	computeNewLocUncertainty ()
void	computeNewMinkowskiFootprint ()
std::vector< ConvexHullPoint >	convexHull (std::vector< ConvexHullPoint > P, bool sorted)
VO	createHRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	createHRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
VO	createObstacleVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2)
VO	createObstacleVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2)
VO	createObstacleVO (Vector2 &position1, double radius1, const std::vector< Vector2 > &footprint1, Vector2 &obst1, Vector2 &obst2)
Line	createOrcaLine (Agent me, Agent other, double trunc_time, double timestep, double left_pref, double cur_allowed_error)
Line	createOrcaLine (double combinedRadius, const Vector2 &relativePosition, const Vector2 &me_vel, const Vector2 &other_vel, double trunc_time, double timestep, double left_pref, double cur_allowed_error, bool controlled)
VO	createRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	createRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
void	createSamplesWithinMovementConstraints (std::vector< VelocitySample > &samples, double cur_vel_x, double cur_vel_y, double cur_vel_theta, double acc_lim_x, double acc_lim_y, double acc_lim_theta, double min_vel_x, double max_vel_x, double min_vel_y, double max_vel_y, double min_vel_theta, double max_vel_theta, double heading, Vector2 pref_vel, double sim_period, int num_samples, bool holo_robot)
Line	createStationaryAgent (Agent me, Agent other)
VO	createTruncVO (VO &vo, double time)
VO	createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2, int TYPE)
VO	createVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2, int TYPE)
VO	createVO (Vector2 &position1, double radius1, Vector2 &position2, double radius2, Vector2 &vel2)
double	cross (const ConvexHullPoint &O, const ConvexHullPoint &A, const ConvexHullPoint &B)
double	det (const Vector2 &vector1, const Vector2 &vector2)
double	distSqPointLineSegment (const Vector2 &a, const Vector2 &b, const Vector2 &c)
	Computes the squared distance from a line segment with the specified endpoints to a specified point.
void	fillMarkerWithROSAgent (visualization_msgs::MarkerArray &marker, ROSAgent *agent, std::string base_frame, std::string name_space)
double	gamma (double T, double theta, double error, double v_max_ang)
Vector2	intersectTwoLines (Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2)
Vector2	intersectTwoLines (Line line1, Line line2)
bool	isInsideVO (VO vo, Vector2 point, bool use_truncation)
bool	isWithinAdditionalConstraints (const std::vector< Line > &additional_constraints, const Vector2 &point)
double	left (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
bool	leftOf (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
bool	linearProgram1 (const std::vector< Line > &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
size_t	linearProgram2 (const std::vector< Line > &lines, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
void	linearProgram3 (const std::vector< Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector2 &result)
std::vector< Vector2 >	minkowskiSum (const std::vector< Vector2 > polygon1, const std::vector< Vector2 > polygon2)
Vector2	normal (const Vector2 &vector)
Vector2	normalize (const Vector2 &vector)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
Vector2	operator* (float s, const Vector2 &vector)
Vector2	projectPointOnLine (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
void	publishHoloSpeed (Vector2 pos, Vector2 vel, std::string base_frame, std::string name_space, ros::Publisher speed_pub)
void	publishMePosition (ROSAgent *me, std::string base_frame, std::string name_space, ros::Publisher me_pub)
void	publishNeighborPositions (std::vector< AgentPtr > &neighbors, std::string base_frame, std::string name_space, ros::Publisher neighbors_pub)
void	publishObstacleLines (const std::vector< Obstacle > &obstacles_lines, std::string base_frame, std::string name_space, ros::Publisher line_pub)
void	publishOrcaLines (const std::vector< Line > &orca_lines, Vector2 &position, std::string base_frame, std::string name_space, ros::Publisher line_pub)
void	publishPoints (Vector2 &pos, const std::vector< VelocitySample > &points, std::string base_frame, std::string name_space, ros::Publisher samples_pub)
void	publishVOs (Vector2 &pos, const std::vector< VO > &truncated_vos, bool use_truncation, std::string base_frame, std::string name_space, ros::Publisher vo_pub)
bool	rightOf (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
Vector2	rotateVectorByAngle (double x, double y, double ang)
Vector2	rotateVectorByAngle (const Vector2 &vec, double ang)
double	sign (double x)
double	signedDistPointToLineSegment (const Vector2 &a, const Vector2 &b, const Vector2 &c)
	Computes the sign from a line connecting the specified points to a specified point.
double	sqr (double a)
Variables
std::string	base_frame_
double	cur_loc_unc_radius_
double	eps_
geometry_msgs::PolygonStamped	footprint_msg_
double	footprint_radius_
std::string	global_frame_
std::vector< Vector2 >	minkowski_footprint_
std::string	odom_frame_
std::vector< std::pair< double, geometry_msgs::PoseStamped > >	pose_array_weighted_
double	radius_
tf::TransformListener *	tf_

Typedef Documentation

typedef boost::shared_ptr<Agent> collvoid::AgentPtr

Definition at line 114 of file Agent.h.

typedef boost::shared_ptr<ROSAgent> collvoid::ROSAgentPtr

Definition at line 246 of file ROSAgent.h.

Function Documentation

double collvoid::abs ( const Vector2 & vector ) [inline]

Definition at line 197 of file Vector2.h.

double collvoid::absSqr ( const Vector2 & vector ) [inline]

Definition at line 202 of file Vector2.h.

void collvoid::addAccelerationConstraintsXY	(	double	max_vel_x,
		double	acc_lim_x,
		double	max_vel_y,
		double	acc_lim_y,
		Vector2	cur_vel,
		double	heading,
		double	sim_period,
		bool	holo_robot,
		std::vector< Line > &	additional_orca_lines
	)

Definition at line 164 of file orca.cpp.

void collvoid::addCircleLineIntersections	(	std::vector< VelocitySample > &	samples,
		const Vector2 &	pref_vel,
		double	max_speed,
		bool	use_truncation,
		const Vector2 &	point,
		const Vector2 &	dir
	)

Definition at line 489 of file clearpath.cpp.

void collvoid::addIntersectPoint	(	std::vector< VelocitySample > &	samples,
		const Vector2 &	pref_vel,
		double	max_speed,
		bool	use_truncation,
		Vector2	point,
		const std::vector< VO > &	truncated_vos
	)

void collvoid::addMovementConstraintsDiff	(	double	error,
		double	T,
		double	max_vel_x,
		double	max_vel_th,
		double	heading,
		double	v_max_ang,
		std::vector< Line > &	additional_orca_lines
	)

Definition at line 252 of file orca.cpp.

void collvoid::addMovementConstraintsDiffSimple	(	double	max_track_speed,
		double	heading,
		std::vector< Line > &	additional_orca_lines
	)

Definition at line 225 of file orca.cpp.

void collvoid::addRayVelocitySamples	(	std::vector< VelocitySample > &	samples,
		const Vector2 &	pref_vel,
		Vector2	point1,
		Vector2	dir1,
		Vector2	point2,
		Vector2	dir2,
		double	max_speed,
		int	TYPE
	)

Definition at line 516 of file clearpath.cpp.

void collvoid::amclPoseArrayWeightedCallback ( const amcl::PoseArrayWeighted::ConstPtr & msg )

Definition at line 183 of file helper.cpp.

double collvoid::angleBetween	(	const Vector2 &	one,
		const Vector2 &	two
	)		`[inline]`

Definition at line 222 of file Vector2.h.

double collvoid::atan ( const Vector2 & vector ) [inline]

Definition at line 206 of file Vector2.h.

double collvoid::beta	(	double	T,
		double	theta,
		double	v_max_ang
	)

Definition at line 298 of file orca.cpp.

double collvoid::CalcArea ( std::vector< Vector2 > list )

Definition at line 275 of file helper.cpp.

Vector2 collvoid::calculateClearpathVelocity	(	std::vector< VelocitySample > &	samples,
		const std::vector< VO > &	truncated_vos,
		const std::vector< Line > &	additional_constraints,
		const Vector2 &	pref_vel,
		double	max_speed,
		bool	use_truncation
	)

Definition at line 669 of file clearpath.cpp.

double collvoid::calculateMaxTrackSpeedAngle	(	double	T,
		double	theta,
		double	error,
		double	max_vel_x,
		double	max_vel_th,
		double	v_max_ang
	)

Definition at line 314 of file orca.cpp.

Vector2 collvoid::calculateNewVelocitySampled	(	std::vector< VelocitySample > &	samples,
		const std::vector< VO > &	truncated_vos,
		const Vector2 &	pref_vel,
		double	max_speed,
		bool	use_truncation
	)

Definition at line 627 of file clearpath.cpp.

double collvoid::calculateVelCosts	(	const Vector2 &	test_vel,
		const std::vector< VO > &	truncated_vos,
		const Vector2 &	pref_vel,
		double	max_speed,
		bool	use_truncation
	)

Definition at line 655 of file clearpath.cpp.

double collvoid::calcVstar	(	double	vh,
		double	theta
	)

Definition at line 306 of file orca.cpp.

double collvoid::calcVstarError	(	double	T,
		double	theta,
		double	error
	)

Definition at line 310 of file orca.cpp.

bool collvoid::compareConvexHullPointsPosition	(	const ConvexHullPoint &	p1,
		const ConvexHullPoint &	p2
	)

Definition at line 59 of file helper.cpp.

bool collvoid::comparePoint	(	const Vector2 &	p1,
		const Vector2 &	p2
	)

Definition at line 63 of file helper.cpp.

bool collvoid::compareVectorsLexigraphically	(	const ConvexHullPoint &	v1,
		const ConvexHullPoint &	v2
	)

Definition at line 843 of file clearpath.cpp.

bool collvoid::compareVelocitySamples	(	const VelocitySample &	p1,
		const VelocitySample &	p2
	)

Definition at line 883 of file clearpath.cpp.

void collvoid::computeNewLocUncertainty ( )

Definition at line 68 of file helper.cpp.

void collvoid::computeNewMinkowskiFootprint ( )

Definition at line 105 of file helper.cpp.

std::vector< ConvexHullPoint > collvoid::convexHull	(	std::vector< ConvexHullPoint >	P,
		bool	sorted
	)

Definition at line 854 of file clearpath.cpp.

VO collvoid::createHRVO	(	Vector2 &	position1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	vel1,
		Vector2 &	position2,
		const std::vector< Vector2 > &	footprint2,
		Vector2 &	vel2
	)

Definition at line 315 of file clearpath.cpp.

VO collvoid::createHRVO	(	Vector2 &	position1,
		double	radius1,
		Vector2 &	vel1,
		Vector2 &	position2,
		double	radius2,
		Vector2 &	vel2
	)

Definition at line 423 of file clearpath.cpp.

VO collvoid::createObstacleVO	(	Vector2 &	position1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	vel1,
		Vector2 &	position2,
		const std::vector< Vector2 > &	footprint2
	)

VO collvoid::createObstacleVO	(	Vector2 &	position1,
		double	radius1,
		Vector2 &	vel1,
		Vector2 &	position2,
		double	radius2
	)

VO collvoid::createObstacleVO	(	Vector2 &	position1,
		double	radius1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	obst1,
		Vector2 &	obst2
	)

Definition at line 78 of file clearpath.cpp.

Line collvoid::createOrcaLine	(	Agent *	me,
		Agent *	other,
		double	trunc_time,
		double	timestep,
		double	left_pref,
		double	cur_allowed_error
	)

Definition at line 70 of file orca.cpp.

Line collvoid::createOrcaLine	(	double	combinedRadius,
		const Vector2 &	relativePosition,
		const Vector2 &	me_vel,
		const Vector2 &	other_vel,
		double	trunc_time,
		double	timestep,
		double	left_pref,
		double	cur_allowed_error,
		bool	controlled
	)

Definition at line 78 of file orca.cpp.

VO collvoid::createRVO	(	Vector2 &	position1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	vel1,
		Vector2 &	position2,
		const std::vector< Vector2 > &	footprint2,
		Vector2 &	vel2
	)

Definition at line 307 of file clearpath.cpp.

VO collvoid::createRVO	(	Vector2 &	position1,
		double	radius1,
		Vector2 &	vel1,
		Vector2 &	position2,
		double	radius2,
		Vector2 &	vel2
	)

Definition at line 417 of file clearpath.cpp.

void collvoid::createSamplesWithinMovementConstraints	(	std::vector< VelocitySample > &	samples,
		double	cur_vel_x,
		double	cur_vel_y,
		double	cur_vel_theta,
		double	acc_lim_x,
		double	acc_lim_y,
		double	acc_lim_theta,
		double	min_vel_x,
		double	max_vel_x,
		double	min_vel_y,
		double	max_vel_y,
		double	min_vel_theta,
		double	max_vel_theta,
		double	heading,
		Vector2	pref_vel,
		double	sim_period,
		int	num_samples,
		bool	holo_robot
	)

Definition at line 558 of file clearpath.cpp.

Line collvoid::createStationaryAgent	(	Agent *	me,
		Agent *	other
	)

Definition at line 151 of file orca.cpp.

VO collvoid::createTruncVO	(	VO &	vo,
		double	time
	)

Definition at line 444 of file clearpath.cpp.

VO collvoid::createVO	(	Vector2 &	position1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	position2,
		const std::vector< Vector2 > &	footprint2,
		Vector2 &	vel2
	)

Definition at line 194 of file clearpath.cpp.

VO collvoid::createVO	(	Vector2 &	position1,
		const std::vector< Vector2 > &	footprint1,
		Vector2 &	vel1,
		Vector2 &	position2,
		const std::vector< Vector2 > &	footprint2,
		Vector2 &	vel2,
		int	TYPE
	)

Definition at line 365 of file clearpath.cpp.

VO collvoid::createVO	(	Vector2 &	position1,
		double	radius1,
		Vector2 &	vel1,
		Vector2 &	position2,
		double	radius2,
		Vector2 &	vel2,
		int	TYPE
	)

Definition at line 378 of file clearpath.cpp.

VO collvoid::createVO	(	Vector2 &	position1,
		double	radius1,
		Vector2 &	position2,
		double	radius2,
		Vector2 &	vel2
	)

Definition at line 391 of file clearpath.cpp.

double collvoid::cross	(	const ConvexHullPoint &	O,
		const ConvexHullPoint &	A,
		const ConvexHullPoint &	B
	)

Definition at line 847 of file clearpath.cpp.

double collvoid::det	(	const Vector2 &	vector1,
		const Vector2 &	vector2
	)		`[inline]`

Definition at line 210 of file Vector2.h.

double collvoid::distSqPointLineSegment	(	const Vector2 &	a,
		const Vector2 &	b,
		const Vector2 &	c
	)		`[inline]`

Computes the squared distance from a line segment with the specified endpoints to a specified point.

Parameters:

a	The first endpoint of the line segment.
b	The second endpoint of the line segment.
c	The point to which the squared distance is to be calculated.

Returns:: The squared distance from the line segment to the point.

Definition at line 91 of file Utils.h.

void collvoid::fillMarkerWithROSAgent	(	visualization_msgs::MarkerArray &	marker,
		ROSAgent *	agent,
		std::string	base_frame,
		std::string	name_space
	)

Definition at line 265 of file collvoid_publishers.cpp.

double collvoid::gamma	(	double	T,
		double	theta,
		double	error,
		double	v_max_ang
	)

Definition at line 302 of file orca.cpp.

Vector2 collvoid::intersectTwoLines	(	Vector2	point1,
		Vector2	dir1,
		Vector2	point2,
		Vector2	dir2
	)

Definition at line 887 of file clearpath.cpp.

Vector2 collvoid::intersectTwoLines	(	Line	line1,
		Line	line2
	)

Definition at line 910 of file clearpath.cpp.

bool collvoid::isInsideVO	(	VO	vo,
		Vector2	point,
		bool	use_truncation
	)

Definition at line 472 of file clearpath.cpp.

bool collvoid::isWithinAdditionalConstraints	(	const std::vector< Line > &	additional_constraints,
		const Vector2 &	point
	)

Definition at line 479 of file clearpath.cpp.

double collvoid::left	(	const Vector2 &	pointLine,
		const Vector2 &	dirLine,
		const Vector2 &	point
	)		`[inline]`

Definition at line 119 of file Utils.h.

bool collvoid::leftOf	(	const Vector2 &	pointLine,
		const Vector2 &	dirLine,
		const Vector2 &	point
	)		`[inline]`

Definition at line 123 of file Utils.h.

bool collvoid::linearProgram1	(	const std::vector< Line > &	lines,
		size_t	lineNo,
		float	radius,
		const Vector2 &	optVelocity,
		bool	dirOpt,
		Vector2 &	result
	)

Definition at line 341 of file orca.cpp.

size_t collvoid::linearProgram2	(	const std::vector< Line > &	lines,
		float	radius,
		const Vector2 &	optVelocity,
		bool	dirOpt,
		Vector2 &	result
	)

Definition at line 408 of file orca.cpp.

void collvoid::linearProgram3	(	const std::vector< Line > &	lines,
		size_t	numObstLines,
		size_t	beginLine,
		float	radius,
		Vector2 &	result
	)

Definition at line 438 of file orca.cpp.

std::vector< Vector2 > collvoid::minkowskiSum	(	const std::vector< Vector2 >	polygon1,
		const std::vector< Vector2 >	polygon2
	)

Definition at line 821 of file clearpath.cpp.

Vector2 collvoid::normal ( const Vector2 & vector ) [inline]

Definition at line 218 of file Vector2.h.

Vector2 collvoid::normalize ( const Vector2 & vector ) [inline]

Definition at line 214 of file Vector2.h.

void collvoid::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

Definition at line 230 of file helper.cpp.

Vector2 collvoid::operator*	(	float	s,
		const Vector2 &	vector
	)		`[inline]`

Definition at line 191 of file Vector2.h.

Vector2 collvoid::projectPointOnLine	(	const Vector2 &	pointLine,
		const Vector2 &	dirLine,
		const Vector2 &	point
	)		`[inline]`

Definition at line 77 of file Utils.h.

void collvoid::publishHoloSpeed	(	Vector2	pos,
		Vector2	vel,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	speed_pub
	)

Definition at line 36 of file collvoid_publishers.cpp.

void collvoid::publishMePosition	(	ROSAgent *	me,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	me_pub
	)

Definition at line 245 of file collvoid_publishers.cpp.

void collvoid::publishNeighborPositions	(	std::vector< AgentPtr > &	neighbors,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	neighbors_pub
	)

Definition at line 253 of file collvoid_publishers.cpp.

void collvoid::publishObstacleLines	(	const std::vector< Obstacle > &	obstacles_lines,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	line_pub
	)

Definition at line 214 of file collvoid_publishers.cpp.

void collvoid::publishOrcaLines	(	const std::vector< Line > &	orca_lines,
		Vector2 &	position,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	line_pub
	)

Definition at line 187 of file collvoid_publishers.cpp.

void collvoid::publishPoints	(	Vector2 &	pos,
		const std::vector< VelocitySample > &	points,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	samples_pub
	)

Definition at line 135 of file collvoid_publishers.cpp.

void collvoid::publishVOs	(	Vector2 &	pos,
		const std::vector< VO > &	truncated_vos,
		bool	use_truncation,
		std::string	base_frame,
		std::string	name_space,
		ros::Publisher	vo_pub
	)