Decision Module  1.0
ICRA2020 AI Challenge Northwestern Polytechnical University Aoxiang Team Strategy Code
Public Types | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
roborts_decision::BlackboardRaw Class Reference

#include <blackboard_raw.h>

Public Types

typedef roborts_costmap::CostmapInterface CostMap
 
typedef roborts_costmap::Costmap2D CostMap2D
 

Public Member Functions

 BlackboardRaw (const std::string &proto_file_path)
 
virtual ~BlackboardRaw ()
 
void ArmorDetectionFeedbackCallback (const roborts_msgs::ArmorDetectionFeedbackConstPtr &feedback)
 
geometry_msgs::PoseStamped GetEnemy () const
 
bool IsEnemyDetected () const
 
void GoalCallback (const geometry_msgs::PoseStamped::ConstPtr &goal)
 
geometry_msgs::PoseStamped GetGoal () const
 
bool IsNewGoal ()
 
const geometry_msgs::PoseStamped GetChassisMapPose ()
 
const geometry_msgs::PoseStamped GetGimbalMapPose ()
 
const std::shared_ptr< CostMap > GetCostMap ()
 
const CostMap2D * GetCostMap2D ()
 
const unsigned char * GetCharMap ()
 

Static Public Member Functions

static double GetDistance (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
 
static double GetAngle (const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2)
 
static std::tuple< double, double, double, double > turnAngleToPose (double alpha, double beta, double gamma)
 
static double vectorToHorizontalDirection (double dx, double dy)
 
static double vectorToVerticalDirection (double dx, double dy, double dz)
 
static double inverseRatioFunction (double x, double max=static_cast< double >(roborts_decision::data::MAX), double min=0.0, double n=1)
 
static double linearFunction (double x, double k=-1, double b=1, double max=static_cast< double >(roborts_decision::data::MAX), double min=0)
 
static double exponentialFunction (double x, double k=-1, double a=exp(1), double b=0, double min=0)
 

Private Member Functions

void UpdateChassisPose ()
 
void UpdateGimbalPose ()
 

Private Attributes

std::shared_ptr< tf::TransformListener > tf_ptr_
 
ros::Subscriber enemy_sub_
 
geometry_msgs::PoseStamped goal_
 
bool new_goal_ {}
 
actionlib::SimpleActionClient< roborts_msgs::ArmorDetectionAction > armor_detection_actionlib_client_
 
roborts_msgs::ArmorDetectionGoal armor_detection_goal_
 
geometry_msgs::PoseStamped enemy_pose_
 
bool enemy_detected_
 
std::shared_ptr< CostMap > costmap_ptr_
 
CostMap2D * costmap_2d_
 
unsigned char * charmap_
 
geometry_msgs::PoseStamped chassis_map_pose_
 
geometry_msgs::PoseStamped gimbal_map_pose_
 
geometry_msgs::PoseStamped chassis_odom_pose_
 
geometry_msgs::PoseStamped gimbal_odom_pose_
 

Member Typedef Documentation

◆ CostMap

typedef roborts_costmap::CostmapInterface roborts_decision::BlackboardRaw::CostMap

◆ CostMap2D

typedef roborts_costmap::Costmap2D roborts_decision::BlackboardRaw::CostMap2D

Constructor & Destructor Documentation

◆ BlackboardRaw()

BlackboardRaw::BlackboardRaw ( const std::string &  proto_file_path)
explicit

◆ ~BlackboardRaw()

BlackboardRaw::~BlackboardRaw ( )
virtual

Member Function Documentation

◆ ArmorDetectionFeedbackCallback()

void BlackboardRaw::ArmorDetectionFeedbackCallback ( const roborts_msgs::ArmorDetectionFeedbackConstPtr &  feedback)

◆ exponentialFunction()

double BlackboardRaw::exponentialFunction ( double  x,
double  k = -1,
double  a = exp(1),
double  b = 0,
double  min = 0 
)
static

◆ GetAngle()

double BlackboardRaw::GetAngle ( const geometry_msgs::PoseStamped &  pose1,
const geometry_msgs::PoseStamped &  pose2 
)
static

◆ GetCharMap()

const unsigned char * BlackboardRaw::GetCharMap ( )

◆ GetChassisMapPose()

const geometry_msgs::PoseStamped BlackboardRaw::GetChassisMapPose ( )

◆ GetCostMap()

const std::shared_ptr< BlackboardRaw::CostMap > BlackboardRaw::GetCostMap ( )

◆ GetCostMap2D()

const BlackboardRaw::CostMap2D * BlackboardRaw::GetCostMap2D ( )

◆ GetDistance()

double BlackboardRaw::GetDistance ( const geometry_msgs::PoseStamped &  pose1,
const geometry_msgs::PoseStamped &  pose2 
)
static

◆ GetEnemy()

geometry_msgs::PoseStamped BlackboardRaw::GetEnemy ( ) const

◆ GetGimbalMapPose()

const geometry_msgs::PoseStamped BlackboardRaw::GetGimbalMapPose ( )

◆ GetGoal()

geometry_msgs::PoseStamped BlackboardRaw::GetGoal ( ) const

◆ GoalCallback()

void BlackboardRaw::GoalCallback ( const geometry_msgs::PoseStamped::ConstPtr &  goal)

◆ inverseRatioFunction()

double BlackboardRaw::inverseRatioFunction ( double  x,
double  max = static_cast<double>(roborts_decision::data::MAX),
double  min = 0.0,
double  n = 1 
)
static

◆ IsEnemyDetected()

bool BlackboardRaw::IsEnemyDetected ( ) const

◆ IsNewGoal()

bool BlackboardRaw::IsNewGoal ( )

◆ linearFunction()

double BlackboardRaw::linearFunction ( double  x,
double  k = -1,
double  b = 1,
double  max = static_cast<double>(roborts_decision::data::MAX),
double  min = 0 
)
static

◆ turnAngleToPose()

std::tuple< double, double, double, double > BlackboardRaw::turnAngleToPose ( double  alpha,
double  beta,
double  gamma 
)
static

◆ UpdateChassisPose()

void BlackboardRaw::UpdateChassisPose ( )
private

◆ UpdateGimbalPose()

void BlackboardRaw::UpdateGimbalPose ( )
private

◆ vectorToHorizontalDirection()

double BlackboardRaw::vectorToHorizontalDirection ( double  dx,
double  dy 
)
static

◆ vectorToVerticalDirection()

double BlackboardRaw::vectorToVerticalDirection ( double  dx,
double  dy,
double  dz 
)
static

Member Data Documentation

◆ armor_detection_actionlib_client_

actionlib::SimpleActionClient<roborts_msgs::ArmorDetectionAction> roborts_decision::BlackboardRaw::armor_detection_actionlib_client_
private

◆ armor_detection_goal_

roborts_msgs::ArmorDetectionGoal roborts_decision::BlackboardRaw::armor_detection_goal_
private

◆ charmap_

unsigned char* roborts_decision::BlackboardRaw::charmap_
private

◆ chassis_map_pose_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::chassis_map_pose_
private

◆ chassis_odom_pose_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::chassis_odom_pose_
private

◆ costmap_2d_

CostMap2D* roborts_decision::BlackboardRaw::costmap_2d_
private

◆ costmap_ptr_

std::shared_ptr<CostMap> roborts_decision::BlackboardRaw::costmap_ptr_
private

◆ enemy_detected_

bool roborts_decision::BlackboardRaw::enemy_detected_
private

◆ enemy_pose_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::enemy_pose_
private

◆ enemy_sub_

ros::Subscriber roborts_decision::BlackboardRaw::enemy_sub_
private

◆ gimbal_map_pose_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::gimbal_map_pose_
private

◆ gimbal_odom_pose_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::gimbal_odom_pose_
private

◆ goal_

geometry_msgs::PoseStamped roborts_decision::BlackboardRaw::goal_
private

◆ new_goal_

bool roborts_decision::BlackboardRaw::new_goal_ {}
private

◆ tf_ptr_

std::shared_ptr<tf::TransformListener> roborts_decision::BlackboardRaw::tf_ptr_
private
The documentation for this class was generated from the following files: