SEBS.cpp File Reference

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "getgraph.h"
#include "algorithms.h"

Include dependency graph for SEBS.cpp:

Go to the source code of this file.

Defines
#define	NUM_MAX_ROBOTS   32
Typedefs
typedef actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	MoveBaseClient
typedef unsigned int	uint
Functions
void	backup ()
bool	check_interference (void)
void	goalActiveCallback ()
void	goalDoneCallback (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	goalFeedbackCallback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	initialize_node ()
int	main (int argc, char **argv)
void	odomCB (const nav_msgs::Odometry::ConstPtr &msg)
void	positionsCB (const nav_msgs::Odometry::ConstPtr &msg)
void	resultsCB (const geometry_msgs::PointStamped::ConstPtr &msg)
void	send_goal_result (uint vertex)
void	send_intention (uint vertex)
void	send_interference ()
Variables
bool	arrived = false
uint	backUpCounter
ros::Publisher	cmd_vel_pub
bool	end_simulation = false
bool	goal_complete
int	ID_ROBOT
bool	initialize = true
bool	intention = false
bool	interference
int	next_vertex = -1
ros::Publisher	odom_pub
ros::Subscriber	odom_sub
bool	ResendGoal
ros::Publisher	results_pub
ros::Subscriber	results_sub
int	robot_arrived
int	robot_intention
int	TEAMSIZE
uint	vertex_arrived
uint	vertex_intention
double	xPos [NUM_MAX_ROBOTS]
double	yPos [NUM_MAX_ROBOTS]

---

Define Documentation

#define NUM_MAX_ROBOTS   32

Definition at line 47 of file SEBS.cpp.

---

Typedef Documentation

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient

Definition at line 50 of file SEBS.cpp.

typedef unsigned int uint

Definition at line 49 of file SEBS.cpp.

---

Function Documentation

void backup

(

)

Definition at line 122 of file SEBS.cpp.

bool check_interference

(

void

)

Definition at line 333 of file SEBS.cpp.

void goalActiveCallback

(

)

Definition at line 178 of file SEBS.cpp.

void goalDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)

Definition at line 158 of file SEBS.cpp.

void goalFeedbackCallback

(

const move_base_msgs::MoveBaseFeedbackConstPtr &

feedback

)

Definition at line 355 of file SEBS.cpp.

void initialize_node

(

)

Definition at line 284 of file SEBS.cpp.

int main	(	int	argc,
		char **	argv
	)

Define G1 and G2

SEND INTENTION

Definition at line 391 of file SEBS.cpp.

void odomCB

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 183 of file SEBS.cpp.

void positionsCB

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 198 of file SEBS.cpp.

void resultsCB

(

const geometry_msgs::PointStamped::ConstPtr &

msg

)

Definition at line 240 of file SEBS.cpp.

void send_goal_result

(

uint

vertex

)

Definition at line 82 of file SEBS.cpp.

void send_intention

(

uint

vertex

)

Definition at line 102 of file SEBS.cpp.

void send_interference

(

)

Definition at line 312 of file SEBS.cpp.

---

Variable Documentation

bool arrived = false

Definition at line 61 of file SEBS.cpp.

uint backUpCounter

Definition at line 58 of file SEBS.cpp.

ros::Publisher cmd_vel_pub

Definition at line 80 of file SEBS.cpp.

bool end_simulation = false

Definition at line 56 of file SEBS.cpp.

bool goal_complete

Definition at line 54 of file SEBS.cpp.

int ID_ROBOT

Definition at line 71 of file SEBS.cpp.

bool initialize = true

Definition at line 55 of file SEBS.cpp.

bool intention = false

Definition at line 66 of file SEBS.cpp.

bool interference

Definition at line 53 of file SEBS.cpp.

int next_vertex = -1

Definition at line 57 of file SEBS.cpp.

ros::Publisher odom_pub

Definition at line 77 of file SEBS.cpp.

ros::Subscriber odom_sub

Definition at line 76 of file SEBS.cpp.

bool ResendGoal

Definition at line 52 of file SEBS.cpp.

ros::Publisher results_pub

Definition at line 79 of file SEBS.cpp.

ros::Subscriber results_sub

Definition at line 78 of file SEBS.cpp.

int robot_arrived

Definition at line 63 of file SEBS.cpp.

int robot_intention

Definition at line 68 of file SEBS.cpp.

int TEAMSIZE

Definition at line 70 of file SEBS.cpp.

uint vertex_arrived

Definition at line 62 of file SEBS.cpp.

uint vertex_intention

Definition at line 67 of file SEBS.cpp.

double xPos[NUM_MAX_ROBOTS]

Definition at line 73 of file SEBS.cpp.

double yPos[NUM_MAX_ROBOTS]

Definition at line 74 of file SEBS.cpp.