horizontal_sensor_OD.C File Reference

#include "rndf.H"
#include "conf.H"
#include "cb_time.H"
#include "cbmesg_logger.H"
#include "proj_util.H"
#include "access_dq.H"
#include "world_state.H"
#include "util.H"
#include <csignal>
#include <string>
#include <cmath>
#include <vector>

Classes
struct	object_t
Functions
void	form_obstacle (double data_tstamp, obstacle_points_data_t &obst, vector< scan_gp_data_t::coord_t > const &scan_beams, unsigned start_i_, unsigned end_i_)
	Creates a object from scan points from index (start_i) to (end_i).
void	group_scan_gp (double tstamp, const vector< scan_gp_data_t::coord_t > &scan_beams, vector< obstacle_points_data_t > &obst_list_)
bool	read_conf (conf_t &conf_)
void	publish_obstacles (world_state_t *world_state, vector< obstacle_points_data_t > &obst_list)
	Sets tstamp, packet_id, obstacle id, and total_packet and publishes given obstacle list.
void	create_scan_list (vector< scan_gp_data_t > &scan_gp_list, vector< scan_gp_data_t::coord_t > &scan_beams)
	make on big list of scan end beam points from scan_gp_list
void	print_usage ()
int	main (int argc_, char **argv_)
Variables
bool	die
char const *	progname
cbmesg_logger_t	msg_logger
char	message [MAXCBMSGSIZE]
int	ob_queue_id
double	max_obst_width
double	default_obst_length
double	default_obst_width
double	search_threshold
const double	TIMESTEP = 0.02

---

Function Documentation

void create_scan_list	(	vector< scan_gp_data_t > &	scan_gp_list,
		vector< scan_gp_data_t::coord_t > &	scan_beams
	)

make on big list of scan end beam points from scan_gp_list

Referenced by main().

void form_obstacle	(	double	data_tstamp,
		obstacle_points_data_t &	obst,
		vector< scan_gp_data_t::coord_t > const &	scan_beams,
		unsigned	start_i_,
		unsigned	end_i_
	)

Creates a object from scan points from index (start_i) to (end_i).

References default_obst_length, default_obst_width, and scan_id.

Referenced by group_scan_gp().

void group_scan_gp	(	double	tstamp,
		const vector< scan_gp_data_t::coord_t > &	scan_beams,
		vector< obstacle_points_data_t > &	obst_list_
	)

References form_obstacle().

Referenced by main().

int main	(	int	argc_,
		char **	argv_
	)

References create_scan_list(), die, group_scan_gp(), msg_logger, ob_queue_id, print_usage(), progname, publish_obstacles(), and TIMESTEP.

void print_usage

(

)

References progname.

Referenced by main().

void publish_obstacles	(	world_state_t *	world_state,
		vector< obstacle_points_data_t > &	obst_list
	)

Sets tstamp, packet_id, obstacle id, and total_packet and publishes given obstacle list.

References ob_queue_id.

Referenced by main().

bool read_conf

(

conf_t &

conf_

)

References default_obst_length, default_obst_width, max_obst_width, and search_threshold.

Referenced by read_config().

---

Variable Documentation

double default_obst_length

Referenced by form_obstacle(), and read_conf().

double default_obst_width

Referenced by form_obstacle(), and read_conf().

bool die

Referenced by main(), and sig_handler().

double max_obst_width

Referenced by read_conf().

char message[MAXCBMSGSIZE]

cbmesg_logger_t msg_logger

Referenced by main().

int ob_queue_id

Referenced by main(), and publish_obstacles().

char const* progname

double search_threshold

Referenced by read_conf().

const double TIMESTEP = 0.02

Referenced by main().