emc::Communication Class Reference

#include <communication.h>

Public Member Functions
	Communication (std::string robot_name="pyro")
void	init ()
void	localization_viz_send_laser_scan (double angle_min, double angle_max, double angle_inc, int subsample, std::vector< float > prediction)
void	localization_viz_send_particles (int N, std::vector< std::vector< double >> particle_poses, double mapOrientation)
void	localization_viz_send_pose (std::vector< double > pose, double mapOrientation)
void	play (const std::string &file)
bool	readBackBumperData (BumperData &bumper)
bool	readFrontBumperData (BumperData &bumper)
bool	readLaserData (LaserData &scan)
bool	readOdometryData (OdometryData &odom)
bool	readPoseData (PoseData &pose)
void	sendBaseVelocity (double vx, double vy, double va)
void	sendMarker (visualization_msgs::Marker marker)
void	sendOpendoorRequest ()
void	sendPoseEstimate (const geometry_msgs::Transform &pose)
void	speak (const std::string &text)
	~Communication ()

Private Member Functions
void	bumperbCallback (const std_msgs::BoolConstPtr &msg)
void	bumperfCallback (const std_msgs::BoolConstPtr &msg)
void	laserCallback (const sensor_msgs::LaserScanConstPtr &msg)
void	odomCallback (const nav_msgs::OdometryConstPtr &msg)
void	poseCallback (const geometry_msgs::PoseStampedConstPtr &msg)

Private Attributes
ros::CallbackQueue	bumper_b_cb_queue_
std_msgs::BoolConstPtr	bumper_b_msg_
ros::CallbackQueue	bumper_f_cb_queue_
std_msgs::BoolConstPtr	bumper_f_msg_
ros::CallbackQueue	laser_cb_queue_
sensor_msgs::LaserScanConstPtr	laser_msg_
ros::Publisher	localization_visualization_pub_laser_msg_
ros::Publisher	localization_visualization_pub_particle_
ros::Publisher	localization_visualization_pub_pose_
ros::CallbackQueue	odom_cb_queue_
nav_msgs::OdometryConstPtr	odom_msg_
ros::CallbackQueue	pose_cb_queue_
geometry_msgs::PoseStampedConstPtr	pose_msg_
ros::Publisher	pub_base_ref_
ros::Publisher	pub_marker_
ros::Publisher	pub_open_door_
ros::Publisher	pub_play_
ros::Publisher	pub_speak_
std::unique_ptr< tf2_ros::TransformBroadcaster >	pub_tf2
std::string	robot_frame_name
ros::Subscriber	sub_bumper_b_
ros::Subscriber	sub_bumper_f_
ros::Subscriber	sub_laser_
ros::Subscriber	sub_odom_
ros::Subscriber	sub_pose_

Detailed Description

Definition at line 28 of file communication.h.

Constructor & Destructor Documentation

Communication()

emc::Communication::Communication

(

std::string

robot_name = "pyro"

)

Definition at line 20 of file communication.cpp.

~Communication()

emc::Communication::~Communication

(

)

Definition at line 75 of file communication.cpp.

Member Function Documentation

bumperbCallback()

void emc::Communication::bumperbCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 285 of file communication.cpp.

bumperfCallback()

void emc::Communication::bumperfCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 278 of file communication.cpp.

init()

void emc::Communication::init

(

)

Definition at line 82 of file communication.cpp.

laserCallback()

void emc::Communication::laserCallback ( const sensor_msgs::LaserScanConstPtr &  msg )

private

Definition at line 257 of file communication.cpp.

localization_viz_send_laser_scan()

void emc::Communication::localization_viz_send_laser_scan	(	double	angle_min,
		double	angle_max,
		double	angle_inc,
		int	subsample,
		std::vector< float >	prediction
	)

Definition at line 293 of file communication.cpp.

localization_viz_send_particles()

void emc::Communication::localization_viz_send_particles	(	int	N,
		std::vector< std::vector< double >>	particle_poses,
		double	mapOrientation
	)

Definition at line 313 of file communication.cpp.

localization_viz_send_pose()

void emc::Communication::localization_viz_send_pose	(	std::vector< double >	pose,
		double	mapOrientation
	)

Definition at line 342 of file communication.cpp.

odomCallback()

void emc::Communication::odomCallback ( const nav_msgs::OdometryConstPtr &  msg )

private

Definition at line 271 of file communication.cpp.

play()

void emc::Communication::play

(

const std::string &

file

)

Definition at line 231 of file communication.cpp.

poseCallback()

void emc::Communication::poseCallback ( const geometry_msgs::PoseStampedConstPtr &  msg )

private

Definition at line 264 of file communication.cpp.

readBackBumperData()

bool emc::Communication::readBackBumperData

(

BumperData &

bumper

)

Definition at line 182 of file communication.cpp.

readFrontBumperData()

bool emc::Communication::readFrontBumperData

(

BumperData &

bumper

)

Definition at line 167 of file communication.cpp.

readLaserData()

bool emc::Communication::readLaserData

(

LaserData &

scan

)

Definition at line 88 of file communication.cpp.

readOdometryData()

bool emc::Communication::readOdometryData

(

OdometryData &

odom

)

Definition at line 145 of file communication.cpp.

readPoseData()

bool emc::Communication::readPoseData

(

PoseData &

pose

)

Definition at line 109 of file communication.cpp.

sendBaseVelocity()

void emc::Communication::sendBaseVelocity	(	double	vx,
		double	vy,
		double	va
	)

Definition at line 197 of file communication.cpp.

sendMarker()

void emc::Communication::sendMarker

(

visualization_msgs::Marker

marker

)

Definition at line 217 of file communication.cpp.

sendOpendoorRequest()

void emc::Communication::sendOpendoorRequest

(

)

Definition at line 209 of file communication.cpp.

sendPoseEstimate()

void emc::Communication::sendPoseEstimate

(

const geometry_msgs::Transform &

pose

)

Definition at line 238 of file communication.cpp.

speak()

void emc::Communication::speak

(

const std::string &

text

)

Definition at line 224 of file communication.cpp.

Member Data Documentation

bumper_b_cb_queue_

ros::CallbackQueue emc::Communication::bumper_b_cb_queue_

private

Definition at line 124 of file communication.h.

bumper_b_msg_

std_msgs::BoolConstPtr emc::Communication::bumper_b_msg_

private

Definition at line 130 of file communication.h.

bumper_f_cb_queue_

ros::CallbackQueue emc::Communication::bumper_f_cb_queue_

private

Definition at line 123 of file communication.h.

bumper_f_msg_

std_msgs::BoolConstPtr emc::Communication::bumper_f_msg_

private

Definition at line 129 of file communication.h.

laser_cb_queue_

ros::CallbackQueue emc::Communication::laser_cb_queue_

private

Definition at line 93 of file communication.h.

laser_msg_

sensor_msgs::LaserScanConstPtr emc::Communication::laser_msg_

private

Definition at line 97 of file communication.h.

localization_visualization_pub_laser_msg_

ros::Publisher emc::Communication::localization_visualization_pub_laser_msg_

private

Definition at line 82 of file communication.h.

localization_visualization_pub_particle_

ros::Publisher emc::Communication::localization_visualization_pub_particle_

private

Definition at line 83 of file communication.h.

localization_visualization_pub_pose_

ros::Publisher emc::Communication::localization_visualization_pub_pose_

private

Definition at line 84 of file communication.h.

odom_cb_queue_

ros::CallbackQueue emc::Communication::odom_cb_queue_

private

Definition at line 113 of file communication.h.

odom_msg_

nav_msgs::OdometryConstPtr emc::Communication::odom_msg_

private

Definition at line 117 of file communication.h.

pose_cb_queue_

ros::CallbackQueue emc::Communication::pose_cb_queue_

private

Definition at line 103 of file communication.h.

pose_msg_

geometry_msgs::PoseStampedConstPtr emc::Communication::pose_msg_

private

Definition at line 107 of file communication.h.

pub_base_ref_

ros::Publisher emc::Communication::pub_base_ref_

private

Definition at line 71 of file communication.h.

pub_marker_

ros::Publisher emc::Communication::pub_marker_

private

Definition at line 79 of file communication.h.

pub_open_door_

ros::Publisher emc::Communication::pub_open_door_

private

Definition at line 73 of file communication.h.

pub_play_

ros::Publisher emc::Communication::pub_play_

private

Definition at line 77 of file communication.h.

pub_speak_

ros::Publisher emc::Communication::pub_speak_

private

Definition at line 75 of file communication.h.

pub_tf2

std::unique_ptr<tf2_ros::TransformBroadcaster> emc::Communication::pub_tf2

private

Definition at line 88 of file communication.h.

robot_frame_name

std::string emc::Communication::robot_frame_name

private

Definition at line 136 of file communication.h.

sub_bumper_b_

ros::Subscriber emc::Communication::sub_bumper_b_

private

Definition at line 127 of file communication.h.

sub_bumper_f_

ros::Subscriber emc::Communication::sub_bumper_f_

private

Definition at line 126 of file communication.h.

sub_laser_

ros::Subscriber emc::Communication::sub_laser_

private

Definition at line 95 of file communication.h.

sub_odom_

ros::Subscriber emc::Communication::sub_odom_

private

Definition at line 115 of file communication.h.

sub_pose_

ros::Subscriber emc::Communication::sub_pose_

private

Definition at line 105 of file communication.h.

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The documentation for this class was generated from the following files:

• communication.h
• communication.cpp