#include <rosinljubljana.h>

Inheritance diagram for Robot:

Public Member Functions
void	EKFOdometryCallback (const nav_msgs::Odometry &msg)

void	odometryCallback (const nav_msgs::Odometry &msg)

	Robot ()

void	setFrames ()

void	setName (std::string, ros::NodeHandle nh)

void	setPositionOrientation (tf::Vector3, tf::Quaternion)

void	transmitFrames ()

void	transmitLaserScan (Robot[], int list_length, Field *field)

void	transmitOdom ()

void	transmitPoseFromAlvarPoseMsg ()

void	updatePositionOrientation ()

Public Attributes
float	angularz

tf::TransformBroadcaster	br
	Broadcaster and listener of robot transforms. More...

float	fi

std::stringstream	frameAr_pose_markerName
	Name of alvar marker frame. More...

std::stringstream	frameBase_linkName
	Name of base_link frame. More...

std::stringstream	frameMapName
	Name of map frame. More...

std::stringstream	frameOdomName
	Name of odom frame. More...

ros::Publisher	LaserScan_publisher
	Publishers of LaserScan msg and Odometry msg. More...

std::stringstream	LaserScan_publisher_name
	Name of LaserScan publisher. More...

tf::TransformListener	listener

std::string	name
	Number of robot. More...

nav_msgs::Odometry	odom
	Variable for storing Odometry msg. More...

ros::Publisher	odom_publisher

std::stringstream	odom_publisher_name
	Name of odometry publisher. More...

geometry_msgs::PoseWithCovarianceStamped	pose_alvar
	Vaifable for storing pose from alvar. More...

ros::Publisher	pose_alvar_publisher

std::stringstream	pose_alvar_publisher_name

std::stringstream	robot_ekf_odom_subscriber_name

ros::Subscriber	sub_ekf_odom
	subscriber for robot odometry from ekf_odom More...

ros::Time	time
	Variables for determening time difference. More...

ros::Time	time_2

tf::Transform	transformBase_Link

tf::Transform	transformMap
	Variables for transforms of frames. More...

tf::Transform	transformOdom

float	vx
	variables for storing position, veloctiy parameters More...

float	vy

float	x

float	y

Detailed Description

Robot class for creating robot

Robot is an instance of robot in environment.

Definition at line 212 of file rosinljubljana.h.

Constructor & Destructor Documentation

◆ Robot()

Robot::Robot ( )

Constructor for robot

Definition at line 184 of file rosinljubljana_objects.cpp.

Member Function Documentation

◆ EKFOdometryCallback()

void Robot::EKFOdometryCallback ( const nav_msgs::Odometry & msg )

Callback method for subscribing to EKF odometry.

Parameters

&msg	pointer to odometry msg

Definition at line 345 of file rosinljubljana_objects.cpp.

◆ odometryCallback()

void Robot::odometryCallback ( const nav_msgs::Odometry & msg )

Callback method for subscribing to robot odometry.

Parameters

&msg	pointer to odometry msg

Definition at line 372 of file rosinljubljana_objects.cpp.

◆ setFrames()

void Robot::setFrames ( )

Sets frames of robot.

Definition at line 219 of file rosinljubljana_objects.cpp.

◆ setName()

void Robot::setName	(	std::string	robotName,
		ros::NodeHandle	nh
	)

Sets robot name. Sets necesery publishers.

Parameters

robotName	Robot number (must be same as alvar tag number)
nh	ros nodehandle

Definition at line 197 of file rosinljubljana_objects.cpp.

◆ setPositionOrientation()

void Robot::setPositionOrientation	(	tf::Vector3	position,
		tf::Quaternion	orientation
	)

Sets robot position and oriantation.

Parameters

position	Vector of robot position
oriantation	Quaternion of robot orienation

Definition at line 243 of file rosinljubljana_objects.cpp.

◆ transmitFrames()

void Robot::transmitFrames ( )

Transmits frames of robot.

Definition at line 523 of file rosinljubljana_objects.cpp.

◆ transmitLaserScan()

void Robot::transmitLaserScan	(	Robot	robotek_list[],
		int	list_length,
		Field *	field
	)

Transmits Laser scan massage of robot

Parameters

robotek_list	List of Numbers of all present robots
list_length	Number of all robots

Definition at line 431 of file rosinljubljana_objects.cpp.

◆ transmitOdom()

void Robot::transmitOdom ( )

Transmit odometry_msg of robot.

Definition at line 410 of file rosinljubljana_objects.cpp.

◆ transmitPoseFromAlvarPoseMsg()

void Robot::transmitPoseFromAlvarPoseMsg ( )

Updates robot position and orientation from alvar marker position, and transmits pose msg.

Definition at line 251 of file rosinljubljana_objects.cpp.

◆ updatePositionOrientation()

void Robot::updatePositionOrientation ( )

Updates robot position and orientation from alvar marker position, and speed of robot.

Definition at line 305 of file rosinljubljana_objects.cpp.

Member Data Documentation

◆ angularz

float Robot::angularz

Definition at line 338 of file rosinljubljana.h.

◆ br

tf::TransformBroadcaster Robot::br

Broadcaster and listener of robot transforms.

Definition at line 319 of file rosinljubljana.h.

◆ fi

float Robot::fi

Definition at line 339 of file rosinljubljana.h.

◆ frameAr_pose_markerName

std::stringstream Robot::frameAr_pose_markerName

Name of alvar marker frame.

Definition at line 311 of file rosinljubljana.h.

◆ frameBase_linkName

std::stringstream Robot::frameBase_linkName

Name of base_link frame.

Definition at line 301 of file rosinljubljana.h.

◆ frameMapName

std::stringstream Robot::frameMapName

Name of map frame.

Definition at line 295 of file rosinljubljana.h.

◆ frameOdomName

std::stringstream Robot::frameOdomName

Name of odom frame.

Definition at line 298 of file rosinljubljana.h.

◆ LaserScan_publisher

ros::Publisher Robot::LaserScan_publisher

Publishers of LaserScan msg and Odometry msg.

Definition at line 323 of file rosinljubljana.h.

◆ LaserScan_publisher_name

std::stringstream Robot::LaserScan_publisher_name

Name of LaserScan publisher.

Definition at line 304 of file rosinljubljana.h.

◆ listener

tf::TransformListener Robot::listener

Definition at line 320 of file rosinljubljana.h.

◆ name

std::string Robot::name

Number of robot.

Definition at line 292 of file rosinljubljana.h.

◆ odom

nav_msgs::Odometry Robot::odom

Variable for storing Odometry msg.

Definition at line 328 of file rosinljubljana.h.

◆ odom_publisher

ros::Publisher Robot::odom_publisher

Definition at line 324 of file rosinljubljana.h.

◆ odom_publisher_name

std::stringstream Robot::odom_publisher_name

Name of odometry publisher.

Definition at line 307 of file rosinljubljana.h.

◆ pose_alvar

geometry_msgs::PoseWithCovarianceStamped Robot::pose_alvar

Vaifable for storing pose from alvar.

Definition at line 331 of file rosinljubljana.h.

◆ pose_alvar_publisher

ros::Publisher Robot::pose_alvar_publisher

Definition at line 325 of file rosinljubljana.h.

◆ pose_alvar_publisher_name

std::stringstream Robot::pose_alvar_publisher_name

Definition at line 308 of file rosinljubljana.h.

◆ robot_ekf_odom_subscriber_name

std::stringstream Robot::robot_ekf_odom_subscriber_name

Definition at line 289 of file rosinljubljana.h.

◆ sub_ekf_odom

ros::Subscriber Robot::sub_ekf_odom

subscriber for robot odometry from ekf_odom

Definition at line 288 of file rosinljubljana.h.

◆ time

ros::Time Robot::time

Variables for determening time difference.

Definition at line 334 of file rosinljubljana.h.

◆ time_2

ros::Time Robot::time_2

Definition at line 335 of file rosinljubljana.h.

◆ transformBase_Link

tf::Transform Robot::transformBase_Link

Definition at line 316 of file rosinljubljana.h.

◆ transformMap

tf::Transform Robot::transformMap

Variables for transforms of frames.

Definition at line 314 of file rosinljubljana.h.

◆ transformOdom

tf::Transform Robot::transformOdom

Definition at line 315 of file rosinljubljana.h.

◆ vx

float Robot::vx

variables for storing position, veloctiy parameters

Definition at line 338 of file rosinljubljana.h.

◆ vy

float Robot::vy

Definition at line 338 of file rosinljubljana.h.

◆ x

float Robot::x

Definition at line 339 of file rosinljubljana.h.

◆ y

float Robot::y

Definition at line 339 of file rosinljubljana.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Robot()

Member Function Documentation

◆ EKFOdometryCallback()

◆ odometryCallback()

◆ setFrames()

◆ setName()

◆ setPositionOrientation()

◆ transmitFrames()

◆ transmitLaserScan()

◆ transmitOdom()

◆ transmitPoseFromAlvarPoseMsg()

◆ updatePositionOrientation()

Member Data Documentation

◆ angularz

◆ br

◆ fi

◆ frameAr_pose_markerName

◆ frameBase_linkName

◆ frameMapName

◆ frameOdomName

◆ LaserScan_publisher

◆ LaserScan_publisher_name

◆ listener

◆ name

◆ odom

◆ odom_publisher

◆ odom_publisher_name

◆ pose_alvar

◆ pose_alvar_publisher

◆ pose_alvar_publisher_name

◆ robot_ekf_odom_subscriber_name

◆ sub_ekf_odom

◆ time

◆ time_2

◆ transformBase_Link

◆ transformMap

◆ transformOdom

◆ vx

◆ vy

◆ x

◆ y