#include <my_robot.h>

Public Member Functions
	MyRobot (RobotId id, const ros::NodeHandle &nh=ros::NodeHandle("~"))

virtual	~MyRobot ()

bool	operator== (const MyRobot &rhs) const

bool	operator!= (const MyRobot &rhs) const

void	update ()

RobotId	GetId () const

RobotType	getRobotType () const

void	setRobotType (RobotType robot_type)

std::string	robotTypeToString (const RobotType robot_type)

int	getHp () const

int	getCurrentHeat () const

int	getRemainingProjectiles () const

bool	isSurvival () const

void	setIsSurvival (bool is_survival)

bool	isNoMove () const

bool	isNoShoot () const

bool	isShot () const

const std::vector< ArmorId > &	getArmorsUnderAttack () const

const roborts_msgs::ArmorsDetected &	getArmorsInEyes () const

const geometry_msgs::PoseStamped &	getChassisMapPose () const

uint32_t	getStatusCode ()

const geometry_msgs::PoseStamped &	getChassisOdomPose ()

const geometry_msgs::PoseStamped &	getGimbalMapPose ()

const geometry_msgs::PoseStamped &	getGimbalOdomPose ()

roborts_common::Point2D	getMyRobotPoint () const

MyRobotBehavior	getCurrentBehavior () const

void	setCurrentBehavior (MyRobotBehavior current_behavior)

double	getEffectiveShootDistance () const

double	getState () const

const roborts_common::Point2D &	getNextPoint () const

void	setNextPoint (const roborts_common::Point2D &nextPoint)

Signal	getSignal () const

void	spinForword (const double &tarX, const double &tarY)

void	spinInPlace (const double &angularVelocity)

void	stayStill ()

void	keepDirectionMove (double tar_x, double tar_y, double direction)

double	getSafeDirection (const geometry_msgs::PoseStamped &pose_enemy)

void	avoidanceMove (double x, double y)

double	GetArmorTowards (ArmorId armor_id)

bool	shoot (double speed, int number=data::MAX)

int	shootBulletsMaxNumber (double speed) const

double	TowardWPosShoot (double tar_x, double tar_y, double tar_z)

int	GetShootEnemyId ()

void	SetShootEnemyId (const int id)

int	GetShootNulletsNumber ()

void	SetShootNulletsNumber (const int num_bullets)

void	SetHomeShootParameter ()

void	SetHomeMoveParameter ()

Private Member Functions
std::shared_ptr< ChassisExecutor >	getPChassisExecutor ()

std::shared_ptr< GimbalExecutor >	getPGimbalExecutor ()

void	setGimbalOdomPose (const double &gimbal_goal_map_pitch, const double &gimbal_goal_map_yaw)

roborts_msgs::GimbalAngle	shootAimed (geometry_msgs::Point32 &target)

void	shoot ()

void	setSignal (Signal signal)

double	changeFrictionWheelSpeedToShootSpeed (double frictionWhellSpeed)

void	ArmorsUnderAttackCallback (const roborts_msgs::RobotDamage::ConstPtr &msg)

void	HeatCallback (const roborts_msgs::RobotHeat::ConstPtr &msg)

void	RobotStatusCallback (const roborts_msgs::RobotStatus::ConstPtr &msg)

void	ArmorsInEyesCallback (const roborts_msgs::ArmorsDetected::ConstPtr &msg)

void	RemainingProjectilesCallback (const roborts_msgs::ShootInfo::ConstPtr &msg)

void	ChassisMapPoseCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)

void	UpdateChassisOdomPose ()

void	UpdateGimbalMapPose ()

void	UpdateGimbalOdomPose ()

Private Attributes
ros::NodeHandle	nh_

ros::Subscriber	remaining_projectiles_sub_

ros::Subscriber	armors_under_attack_sub_

ros::Subscriber	heat_sub_

ros::Subscriber	armors_in_eyes_sub_

ros::Subscriber	robot_status_sub_

ros::Subscriber	robot_map_pose_sub_

std::shared_ptr< tf::TransformListener >	tf_ptr_

std::shared_ptr< std::thread >	tf_thread_ptr_

std::shared_ptr< std::thread >	p_ros_spin_thread_

RobotId	id_

RobotType	robot_type_

int	remaining_hp_

int	max_hp_

int	current_heat_

bool	no_move_

bool	no_shoot_

double	tNoShoot = 0

double	tNoMove = 0

int	remaining_projectiles_

bool	is_survival_

int	shoot_enemy_id_

int	shoot_bullets_this_time_

std::vector< ArmorId >	armors_under_attack_

roborts_msgs::ArmorsDetected	armors_in_eyes_

geometry_msgs::PoseStamped	chassis_map_pose_

geometry_msgs::PoseStamped	chassis_odom_pose_

geometry_msgs::PoseStamped	gimbal_map_pose_

geometry_msgs::PoseStamped	gimbal_odom_pose_

MyRobotBehavior	current_behavior_

std::shared_ptr< ChassisExecutor >	p_chassis_executor_

std::shared_ptr< GimbalExecutor >	p_gimbal_executor_

ros::Publisher	shoot_pub_

roborts_common::Point2D	nextPoint_

roborts_decision::Signal	signal_

Static Private Attributes
constexpr static double	kBlood = 0.9

constexpr static double	kBullet = 0.8

constexpr static double	kHeat = 0.1

Constructor & Destructor Documentation

◆ MyRobot()

MyRobot::MyRobot	(	RobotId	id,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`
	)

explicit

◆ ~MyRobot()

MyRobot::~MyRobot ( )

virtualdefault

Member Function Documentation

◆ ArmorsInEyesCallback()

void MyRobot::ArmorsInEyesCallback ( const roborts_msgs::ArmorsDetected::ConstPtr & msg )

private

◆ ArmorsUnderAttackCallback()

void MyRobot::ArmorsUnderAttackCallback ( const roborts_msgs::RobotDamage::ConstPtr & msg )

private

◆ avoidanceMove()

void MyRobot::avoidanceMove	(	double	x,
		double	y
	)

◆ changeFrictionWheelSpeedToShootSpeed()

double MyRobot::changeFrictionWheelSpeedToShootSpeed ( double frictionWhellSpeed )

private

◆ ChassisMapPoseCallback()

void MyRobot::ChassisMapPoseCallback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

private

◆ getArmorsInEyes()

const roborts_msgs::ArmorsDetected & MyRobot::getArmorsInEyes ( ) const

◆ getArmorsUnderAttack()

const std::vector< ArmorId > & MyRobot::getArmorsUnderAttack ( ) const

暂定使用方法为如果有被攻击的装甲板,size不为0,并且返回ArmorId

Returns

◆ GetArmorTowards()

double MyRobot::GetArmorTowards ( ArmorId armor_id )

◆ getChassisMapPose()

const geometry_msgs::PoseStamped & MyRobot::getChassisMapPose ( ) const

◆ getChassisOdomPose()

const geometry_msgs::PoseStamped & MyRobot::getChassisOdomPose ( )

◆ getCurrentBehavior()

MyRobotBehavior MyRobot::getCurrentBehavior ( ) const

◆ getCurrentHeat()

int MyRobot::getCurrentHeat ( ) const

◆ getEffectiveShootDistance()

double MyRobot::getEffectiveShootDistance ( ) const

◆ getGimbalMapPose()

const geometry_msgs::PoseStamped & MyRobot::getGimbalMapPose ( )

◆ getGimbalOdomPose()

const geometry_msgs::PoseStamped & MyRobot::getGimbalOdomPose ( )

◆ getHp()

int MyRobot::getHp ( ) const

◆ GetId()

RobotId MyRobot::GetId ( ) const

◆ getMyRobotPoint()

roborts_common::Point2D MyRobot::getMyRobotPoint ( ) const

◆ getNextPoint()

const roborts_common::Point2D & MyRobot::getNextPoint ( ) const

◆ getPChassisExecutor()

std::shared_ptr< ChassisExecutor > MyRobot::getPChassisExecutor ( )

private

◆ getPGimbalExecutor()

std::shared_ptr< GimbalExecutor > MyRobot::getPGimbalExecutor ( )

private

◆ getRemainingProjectiles()

int MyRobot::getRemainingProjectiles ( ) const

◆ getRobotType()

RobotType MyRobot::getRobotType ( ) const

◆ getSafeDirection()

double MyRobot::getSafeDirection ( const geometry_msgs::PoseStamped & pose_enemy )

◆ GetShootEnemyId()

int MyRobot::GetShootEnemyId ( )

◆ GetShootNulletsNumber()

int MyRobot::GetShootNulletsNumber ( )

◆ getSignal()

Signal MyRobot::getSignal ( ) const

◆ getState()

double roborts_decision::MyRobot::getState ( ) const

◆ getStatusCode()

uint32_t MyRobot::getStatusCode ( )

◆ HeatCallback()

void MyRobot::HeatCallback ( const roborts_msgs::RobotHeat::ConstPtr & msg )

private

◆ isNoMove()

bool MyRobot::isNoMove ( ) const

◆ isNoShoot()

bool MyRobot::isNoShoot ( ) const

◆ isShot()

bool MyRobot::isShot ( ) const

TODO 返回我方机器人是否被攻击

Returns

◆ isSurvival()

bool MyRobot::isSurvival ( ) const

◆ keepDirectionMove()

void MyRobot::keepDirectionMove	(	double	tar_x,
		double	tar_y,
		double	direction
	)

实现机器人以某个朝向移动

Parameters

tar_x	目标点x坐标
tar_y	目标点y坐标
direction	到达点位点目标方向

◆ operator!=()

bool MyRobot::operator!= ( const MyRobot & rhs ) const

◆ operator==()

bool MyRobot::operator== ( const MyRobot & rhs ) const

◆ RemainingProjectilesCallback()

void MyRobot::RemainingProjectilesCallback ( const roborts_msgs::ShootInfo::ConstPtr & msg )

private

◆ RobotStatusCallback()

void MyRobot::RobotStatusCallback ( const roborts_msgs::RobotStatus::ConstPtr & msg )

private

◆ robotTypeToString()

std::string MyRobot::robotTypeToString ( const RobotType robot_type )

◆ setCurrentBehavior()

void MyRobot::setCurrentBehavior ( MyRobotBehavior current_behavior )

◆ setGimbalOdomPose()

void MyRobot::setGimbalOdomPose	(	const double &	gimbal_goal_map_pitch,
		const double &	gimbal_goal_map_yaw
	)

private

◆ SetHomeMoveParameter()

void roborts_decision::MyRobot::SetHomeMoveParameter ( )

◆ SetHomeShootParameter()

void roborts_decision::MyRobot::SetHomeShootParameter ( )

◆ setIsSurvival()

void MyRobot::setIsSurvival ( bool is_survival )

◆ setNextPoint()

void MyRobot::setNextPoint ( const roborts_common::Point2D & nextPoint )

◆ setRobotType()

void MyRobot::setRobotType ( RobotType robot_type )

◆ SetShootEnemyId()

void MyRobot::SetShootEnemyId ( const int id )

◆ SetShootNulletsNumber()

void MyRobot::SetShootNulletsNumber ( const int num_bullets )

◆ setSignal()

void MyRobot::setSignal ( Signal signal )

private

◆ shoot() [1/2]

void MyRobot::shoot ( )

private

◆ shoot() [2/2]

bool MyRobot::shoot	(	double	speed,
		int	number = `data::MAX`
	)

◆ shootAimed()

roborts_msgs::GimbalAngle MyRobot::shootAimed ( geometry_msgs::Point32 & target )

private

◆ shootBulletsMaxNumber()

int MyRobot::shootBulletsMaxNumber ( double speed ) const

◆ spinForword()

void MyRobot::spinForword	(	const double &	tarX,
		const double &	tarY
	)

◆ spinInPlace()

void MyRobot::spinInPlace ( const double & angularVelocity )

◆ stayStill()

void MyRobot::stayStill ( )

◆ TowardWPosShoot()

double MyRobot::TowardWPosShoot	(	double	tar_x,
		double	tar_y,
		double	tar_z
	)

◆ update()

void MyRobot::update ( )

◆ UpdateChassisOdomPose()

void MyRobot::UpdateChassisOdomPose ( )

private

◆ UpdateGimbalMapPose()

void MyRobot::UpdateGimbalMapPose ( )

private

◆ UpdateGimbalOdomPose()

void MyRobot::UpdateGimbalOdomPose ( )

private

Member Data Documentation

◆ armors_in_eyes_

roborts_msgs::ArmorsDetected roborts_decision::MyRobot::armors_in_eyes_

private

◆ armors_in_eyes_sub_

ros::Subscriber roborts_decision::MyRobot::armors_in_eyes_sub_

private

◆ armors_under_attack_

std::vector<ArmorId> roborts_decision::MyRobot::armors_under_attack_

private

◆ armors_under_attack_sub_

ros::Subscriber roborts_decision::MyRobot::armors_under_attack_sub_

private

◆ chassis_map_pose_

geometry_msgs::PoseStamped roborts_decision::MyRobot::chassis_map_pose_

private

◆ chassis_odom_pose_

geometry_msgs::PoseStamped roborts_decision::MyRobot::chassis_odom_pose_

private

◆ current_behavior_

MyRobotBehavior roborts_decision::MyRobot::current_behavior_

private

◆ current_heat_

int roborts_decision::MyRobot::current_heat_

private

◆ gimbal_map_pose_

geometry_msgs::PoseStamped roborts_decision::MyRobot::gimbal_map_pose_

private

◆ gimbal_odom_pose_

geometry_msgs::PoseStamped roborts_decision::MyRobot::gimbal_odom_pose_

private

◆ heat_sub_

ros::Subscriber roborts_decision::MyRobot::heat_sub_

private

◆ id_

RobotId roborts_decision::MyRobot::id_

private

◆ is_survival_

bool roborts_decision::MyRobot::is_survival_

private

◆ kBlood

constexpr static double roborts_decision::MyRobot::kBlood = 0.9

staticconstexprprivate

◆ kBullet

constexpr static double roborts_decision::MyRobot::kBullet = 0.8

staticconstexprprivate

◆ kHeat

constexpr static double roborts_decision::MyRobot::kHeat = 0.1

staticconstexprprivate

◆ max_hp_

int roborts_decision::MyRobot::max_hp_

private

◆ nextPoint_

roborts_common::Point2D roborts_decision::MyRobot::nextPoint_

private

◆ nh_

ros::NodeHandle roborts_decision::MyRobot::nh_

private

◆ no_move_

bool roborts_decision::MyRobot::no_move_

private

◆ no_shoot_

bool roborts_decision::MyRobot::no_shoot_

private

◆ p_chassis_executor_

std::shared_ptr<ChassisExecutor> roborts_decision::MyRobot::p_chassis_executor_

private

◆ p_gimbal_executor_

std::shared_ptr<GimbalExecutor> roborts_decision::MyRobot::p_gimbal_executor_

private

◆ p_ros_spin_thread_

std::shared_ptr<std::thread> roborts_decision::MyRobot::p_ros_spin_thread_

private

◆ remaining_hp_

int roborts_decision::MyRobot::remaining_hp_

private

◆ remaining_projectiles_

int roborts_decision::MyRobot::remaining_projectiles_

private

◆ remaining_projectiles_sub_

ros::Subscriber roborts_decision::MyRobot::remaining_projectiles_sub_

private

◆ robot_map_pose_sub_

ros::Subscriber roborts_decision::MyRobot::robot_map_pose_sub_

private

◆ robot_status_sub_

ros::Subscriber roborts_decision::MyRobot::robot_status_sub_

private

◆ robot_type_

RobotType roborts_decision::MyRobot::robot_type_

private

◆ shoot_bullets_this_time_

int roborts_decision::MyRobot::shoot_bullets_this_time_

private

◆ shoot_enemy_id_

int roborts_decision::MyRobot::shoot_enemy_id_

private

◆ shoot_pub_

ros::Publisher roborts_decision::MyRobot::shoot_pub_

private

◆ signal_

roborts_decision::Signal roborts_decision::MyRobot::signal_

private

◆ tf_ptr_

std::shared_ptr<tf::TransformListener> roborts_decision::MyRobot::tf_ptr_

private

◆ tf_thread_ptr_

std::shared_ptr<std::thread> roborts_decision::MyRobot::tf_thread_ptr_

private

◆ tNoMove

double roborts_decision::MyRobot::tNoMove = 0

private

◆ tNoShoot

double roborts_decision::MyRobot::tNoShoot = 0

private

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

src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/my_robot.h
src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/my_robot.cpp

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Constructor & Destructor Documentation

◆ MyRobot()

◆ ~MyRobot()

Member Function Documentation

◆ ArmorsInEyesCallback()

◆ ArmorsUnderAttackCallback()

◆ avoidanceMove()

◆ changeFrictionWheelSpeedToShootSpeed()

◆ ChassisMapPoseCallback()

◆ getArmorsInEyes()

◆ getArmorsUnderAttack()

◆ GetArmorTowards()

◆ getChassisMapPose()

◆ getChassisOdomPose()

◆ getCurrentBehavior()

◆ getCurrentHeat()

◆ getEffectiveShootDistance()

◆ getGimbalMapPose()

◆ getGimbalOdomPose()

◆ getHp()

◆ GetId()

◆ getMyRobotPoint()

◆ getNextPoint()

◆ getPChassisExecutor()

◆ getPGimbalExecutor()

◆ getRemainingProjectiles()

◆ getRobotType()

◆ getSafeDirection()

◆ GetShootEnemyId()

◆ GetShootNulletsNumber()

◆ getSignal()

◆ getState()

◆ getStatusCode()

◆ HeatCallback()

◆ isNoMove()

◆ isNoShoot()

◆ isShot()

◆ isSurvival()

◆ keepDirectionMove()

◆ operator!=()

◆ operator==()

◆ RemainingProjectilesCallback()

◆ RobotStatusCallback()

◆ robotTypeToString()

◆ setCurrentBehavior()

◆ setGimbalOdomPose()

◆ SetHomeMoveParameter()

◆ SetHomeShootParameter()

◆ setIsSurvival()

◆ setNextPoint()

◆ setRobotType()

◆ SetShootEnemyId()

◆ SetShootNulletsNumber()

◆ setSignal()

◆ shoot() [1/2]

◆ shoot() [2/2]

◆ shootAimed()

◆ shootBulletsMaxNumber()

◆ spinForword()

◆ spinInPlace()

◆ stayStill()

◆ TowardWPosShoot()

◆ update()

◆ UpdateChassisOdomPose()

◆ UpdateGimbalMapPose()

◆ UpdateGimbalOdomPose()

Member Data Documentation

◆ armors_in_eyes_

◆ armors_in_eyes_sub_

◆ armors_under_attack_

◆ armors_under_attack_sub_

◆ chassis_map_pose_

◆ chassis_odom_pose_

◆ current_behavior_

◆ current_heat_

◆ gimbal_map_pose_