target_monitor.cpp File Reference

#include <ros/ros.h>
#include <tf2/utils.h>
#include <actionlib/server/simple_action_server.h>
#include <geometry_msgs/Pose.h>
#include <cpswarm_msgs/TaskAllocatedEvent.h>
#include <cpswarm_msgs/TargetPositionEvent.h>
#include <cpswarm_msgs/TargetTracking.h>
#include <cpswarm_msgs/TargetAction.h>
#include "lib/targets.h"

Include dependency graph for target_monitor.cpp:

Go to the source code of this file.

Typedefs
typedef actionlib::SimpleActionServer< cpswarm_msgs::TargetAction >	action_server_t
	An action server type that allows to set the state of a target. More...

Functions
void	assigned_callback (const cpswarm_msgs::TaskAllocatedEvent::ConstPtr &msg)
	Callback function to receive information about targets assigned to a CPSs. More...
void	done_callback (const cpswarm_msgs::TargetPositionEvent::ConstPtr &msg)
	Callback function for incoming target done events. More...
void	found_callback (const cpswarm_msgs::TargetPositionEvent::ConstPtr &msg)
	Callback function to receive information about targets found by other CPSs. More...
void	lost_callback (const cpswarm_msgs::TargetPositionEvent::ConstPtr &msg)
	Callback function to receive information about targets lost by other CPSs. More...
int	main (int argc, char **argv)
	Main function to be executed by ROS. More...
void	pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
	Callback function for position updates. More...
geometry_msgs::Quaternion	rotate (geometry_msgs::Quaternion rotation)
	Compute the orientation resulting from the rotated CPS orientation. More...
void	set_done (const cpswarm_msgs::TargetGoalConstPtr &goal, action_server_t *as)
	Callback of the action server which sets the target state to done. More...
void	tracking_callback (const cpswarm_msgs::TargetTracking::ConstPtr &msg)
	Callback function for target position. More...
void	update_callback (const cpswarm_msgs::TargetPositionEvent::ConstPtr &msg)
	Callback function to receive updated information about targets from other CPSs. More...
double	yaw ()
	Compute the current yaw orientation of the CPS. More...

Variables
targets *	monitor
	The targets being monitored. More...
geometry_msgs::Pose	pose
	Current position of the CPS. More...
bool	pose_valid
	Whether a valid position has been received. More...

Typedef Documentation

action_server_t

typedef actionlib::SimpleActionServer<cpswarm_msgs::TargetAction> action_server_t

An action server type that allows to set the state of a target.

Definition at line 17 of file target_monitor.cpp.

Function Documentation

assigned_callback()

void assigned_callback

(

const cpswarm_msgs::TaskAllocatedEvent::ConstPtr &

msg

)

Callback function to receive information about targets assigned to a CPSs.

Parameters

msg	ID and position of target.

Definition at line 102 of file target_monitor.cpp.

done_callback()

void done_callback

(

const cpswarm_msgs::TargetPositionEvent::ConstPtr &

msg

)

Callback function for incoming target done events.

Parameters

msg	ID and last position of target.

Definition at line 124 of file target_monitor.cpp.

found_callback()

void found_callback

(

const cpswarm_msgs::TargetPositionEvent::ConstPtr &

msg

)

Callback function to receive information about targets found by other CPSs.

Parameters

msg	ID and position of target.

Definition at line 84 of file target_monitor.cpp.

lost_callback()

void lost_callback

(

const cpswarm_msgs::TargetPositionEvent::ConstPtr &

msg

)

Callback function to receive information about targets lost by other CPSs.

Parameters

msg	ID and last known position of target.

Definition at line 115 of file target_monitor.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Main function to be executed by ROS.

Parameters

argc	Number of command line arguments.
argv	Array of command line arguments.

Returns

Success.

Definition at line 172 of file target_monitor.cpp.

pose_callback()

void pose_callback

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

Callback function for position updates.

Parameters

msg	Position received from the CPS.

Definition at line 133 of file target_monitor.cpp.

rotate()

geometry_msgs::Quaternion rotate

(

geometry_msgs::Quaternion

rotation

)

Compute the orientation resulting from the rotated CPS orientation.

Returns

The rotation to apply to the CPS orientation.

Definition at line 49 of file target_monitor.cpp.

set_done()

void set_done	(	const cpswarm_msgs::TargetGoalConstPtr &	goal,
		action_server_t *	as
	)

Callback of the action server which sets the target state to done.

Parameters

goal	The goal message received from the action client.
as	The action server offered by this node.

Definition at line 151 of file target_monitor.cpp.

tracking_callback()

void tracking_callback

(

const cpswarm_msgs::TargetTracking::ConstPtr &

msg

)

Callback function for target position.

Parameters

msg	ID of target and translation between CPS and target as received from the OpenMV camera.

Definition at line 64 of file target_monitor.cpp.

update_callback()

void update_callback

(

const cpswarm_msgs::TargetPositionEvent::ConstPtr &

msg

)

Callback function to receive updated information about targets from other CPSs.

Parameters

msg	ID and position of target.

Definition at line 93 of file target_monitor.cpp.

yaw()

double yaw

(

)

Compute the current yaw orientation of the CPS.

Returns

The current yaw angle of the CPS counterclockwise starting from x-axis/east.

Definition at line 38 of file target_monitor.cpp.

Variable Documentation

monitor

targets* monitor

The targets being monitored.

Definition at line 22 of file target_monitor.cpp.

pose

geometry_msgs::Pose pose

Current position of the CPS.

Definition at line 27 of file target_monitor.cpp.

pose_valid

bool pose_valid

Whether a valid position has been received.

Definition at line 32 of file target_monitor.cpp.