Asservissement en position fonctionnel.
This commit is contained in:
Hugo LEVY-FALK
parent
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detect_targets
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"/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig.wikidoc"
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|
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cd /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets && /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets -e /opt/ros/melodic/share/gencpp/cmake/..
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cd /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets && /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets -e /opt/ros/melodic/share/gencpp/cmake/..
|
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cd /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets && /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets -e /opt/ros/melodic/share/gencpp/cmake/..
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|
||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_lisp.dir/build.make CMakeFiles/detect_targets_generate_messages_lisp.dir/build
|
||||
.PHONY : detect_targets_generate_messages_lisp/fast
|
||||
detect_targets_generate_messages_eus/fast:
|
||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_eus.dir/build.make CMakeFiles/detect_targets_generate_messages_eus.dir/build
|
||||
.PHONY : detect_targets_generate_messages_eus/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named detect_targets_gencpp
|
||||
|
||||
# Build rule for target.
|
||||
detect_targets_gencpp: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_gencpp
|
||||
.PHONY : detect_targets_gencpp
|
||||
|
||||
# fast build rule for target.
|
||||
detect_targets_gencpp/fast:
|
||||
$(MAKE) -f CMakeFiles/detect_targets_gencpp.dir/build.make CMakeFiles/detect_targets_gencpp.dir/build
|
||||
.PHONY : detect_targets_gencpp/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named detect_targets_generate_messages_nodejs
|
||||
|
|
@ -583,19 +596,6 @@ dynamic_reconfigure_generate_messages_eus/fast:
|
|||
$(MAKE) -f CMakeFiles/dynamic_reconfigure_generate_messages_eus.dir/build.make CMakeFiles/dynamic_reconfigure_generate_messages_eus.dir/build
|
||||
.PHONY : dynamic_reconfigure_generate_messages_eus/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named detect_targets_generate_messages_eus
|
||||
|
||||
# Build rule for target.
|
||||
detect_targets_generate_messages_eus: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_eus
|
||||
.PHONY : detect_targets_generate_messages_eus
|
||||
|
||||
# fast build rule for target.
|
||||
detect_targets_generate_messages_eus/fast:
|
||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_eus.dir/build.make CMakeFiles/detect_targets_generate_messages_eus.dir/build
|
||||
.PHONY : detect_targets_generate_messages_eus/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named geometry_msgs_generate_messages_cpp
|
||||
|
||||
|
|
@ -700,6 +700,45 @@ dynamic_reconfigure_gencfg/fast:
|
|||
$(MAKE) -f CMakeFiles/dynamic_reconfigure_gencfg.dir/build.make CMakeFiles/dynamic_reconfigure_gencfg.dir/build
|
||||
.PHONY : dynamic_reconfigure_gencfg/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named _detect_targets_generate_messages_check_deps_control
|
||||
|
||||
# Build rule for target.
|
||||
_detect_targets_generate_messages_check_deps_control: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 _detect_targets_generate_messages_check_deps_control
|
||||
.PHONY : _detect_targets_generate_messages_check_deps_control
|
||||
|
||||
# fast build rule for target.
|
||||
_detect_targets_generate_messages_check_deps_control/fast:
|
||||
$(MAKE) -f CMakeFiles/_detect_targets_generate_messages_check_deps_control.dir/build.make CMakeFiles/_detect_targets_generate_messages_check_deps_control.dir/build
|
||||
.PHONY : _detect_targets_generate_messages_check_deps_control/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named detect_targets_generate_messages_lisp
|
||||
|
||||
# Build rule for target.
|
||||
detect_targets_generate_messages_lisp: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_lisp
|
||||
.PHONY : detect_targets_generate_messages_lisp
|
||||
|
||||
# fast build rule for target.
|
||||
detect_targets_generate_messages_lisp/fast:
|
||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_lisp.dir/build.make CMakeFiles/detect_targets_generate_messages_lisp.dir/build
|
||||
.PHONY : detect_targets_generate_messages_lisp/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named _detect_targets_generate_messages_check_deps_component_center
|
||||
|
||||
# Build rule for target.
|
||||
_detect_targets_generate_messages_check_deps_component_center: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 _detect_targets_generate_messages_check_deps_component_center
|
||||
.PHONY : _detect_targets_generate_messages_check_deps_component_center
|
||||
|
||||
# fast build rule for target.
|
||||
_detect_targets_generate_messages_check_deps_component_center/fast:
|
||||
$(MAKE) -f CMakeFiles/_detect_targets_generate_messages_check_deps_component_center.dir/build.make CMakeFiles/_detect_targets_generate_messages_check_deps_component_center.dir/build
|
||||
.PHONY : _detect_targets_generate_messages_check_deps_component_center/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named rosgraph_msgs_generate_messages_eus
|
||||
|
||||
|
|
@ -726,19 +765,6 @@ detect_targets_generate_messages_cpp/fast:
|
|||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_cpp.dir/build.make CMakeFiles/detect_targets_generate_messages_cpp.dir/build
|
||||
.PHONY : detect_targets_generate_messages_cpp/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named detect_targets_gencpp
|
||||
|
||||
# Build rule for target.
|
||||
detect_targets_gencpp: cmake_check_build_system
|
||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_gencpp
|
||||
.PHONY : detect_targets_gencpp
|
||||
|
||||
# fast build rule for target.
|
||||
detect_targets_gencpp/fast:
|
||||
$(MAKE) -f CMakeFiles/detect_targets_gencpp.dir/build.make CMakeFiles/detect_targets_gencpp.dir/build
|
||||
.PHONY : detect_targets_gencpp/fast
|
||||
|
||||
#=============================================================================
|
||||
# Target rules for targets named gmock_main
|
||||
|
||||
|
|
@ -807,7 +833,8 @@ help:
|
|||
@echo "... detect_targets_generate_messages_py"
|
||||
@echo "... detect_targets_gennodejs"
|
||||
@echo "... detect_targets_genlisp"
|
||||
@echo "... detect_targets_generate_messages_lisp"
|
||||
@echo "... detect_targets_generate_messages_eus"
|
||||
@echo "... detect_targets_gencpp"
|
||||
@echo "... detect_targets_generate_messages_nodejs"
|
||||
@echo "... rosgraph_msgs_generate_messages_nodejs"
|
||||
@echo "... rosgraph_msgs_generate_messages_py"
|
||||
|
|
@ -836,7 +863,6 @@ help:
|
|||
@echo "... std_msgs_generate_messages_lisp"
|
||||
@echo "... std_msgs_generate_messages_nodejs"
|
||||
@echo "... dynamic_reconfigure_generate_messages_eus"
|
||||
@echo "... detect_targets_generate_messages_eus"
|
||||
@echo "... geometry_msgs_generate_messages_cpp"
|
||||
@echo "... geometry_msgs_generate_messages_lisp"
|
||||
@echo "... geometry_msgs_generate_messages_py"
|
||||
|
|
@ -845,9 +871,11 @@ help:
|
|||
@echo "... dynamic_reconfigure_generate_messages_cpp"
|
||||
@echo "... dynamic_reconfigure_generate_messages_lisp"
|
||||
@echo "... dynamic_reconfigure_gencfg"
|
||||
@echo "... _detect_targets_generate_messages_check_deps_control"
|
||||
@echo "... detect_targets_generate_messages_lisp"
|
||||
@echo "... _detect_targets_generate_messages_check_deps_component_center"
|
||||
@echo "... rosgraph_msgs_generate_messages_eus"
|
||||
@echo "... detect_targets_generate_messages_cpp"
|
||||
@echo "... detect_targets_gencpp"
|
||||
@echo "... gmock_main"
|
||||
@echo "... gmock"
|
||||
@echo "... gtest_main"
|
||||
|
|
|
|||
|
|
@ -1,2 +1,2 @@
|
|||
set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
|
||||
set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg")
|
||||
set(detect_targets_SERVICE_FILES "")
|
||||
|
|
|
|||
|
|
@ -1,2 +1,2 @@
|
|||
set(detect_targets_MESSAGE_FILES "msg/component_centers.msg")
|
||||
set(detect_targets_MESSAGE_FILES "msg/component_centers.msg;msg/component_center.msg;msg/control.msg")
|
||||
set(detect_targets_SERVICE_FILES "")
|
||||
|
|
|
|||
|
|
@ -1,2 +1,2 @@
|
|||
set(detect_targets_MESSAGE_FILES "msg/component_centers.msg")
|
||||
set(detect_targets_MESSAGE_FILES "msg/component_centers.msg;msg/component_center.msg;msg/control.msg")
|
||||
set(detect_targets_SERVICE_FILES "")
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
# generated from genmsg/cmake/pkg-genmsg.context.in
|
||||
|
||||
messages_str = "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
messages_str = "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
services_str = ""
|
||||
pkg_name = "detect_targets"
|
||||
dependencies_str = "std_msgs"
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
# generated from genmsg/cmake/pkg-genmsg.cmake.em
|
||||
|
||||
message(STATUS "detect_targets: 1 messages, 0 services")
|
||||
message(STATUS "detect_targets: 3 messages, 0 services")
|
||||
|
||||
set(MSG_I_FLAGS "-Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg;-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg")
|
||||
|
||||
|
|
@ -17,6 +17,16 @@ add_custom_target(detect_targets_generate_messages ALL)
|
|||
|
||||
|
||||
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
|
||||
COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" ""
|
||||
)
|
||||
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
|
||||
COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" ""
|
||||
)
|
||||
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
|
||||
COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" "detect_targets/component_center"
|
||||
|
|
@ -28,6 +38,18 @@ add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
|
|||
|
||||
### Section generating for lang: gencpp
|
||||
### Generating Messages
|
||||
_generate_msg_cpp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_cpp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_cpp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
|
|
@ -49,6 +71,10 @@ add_custom_target(detect_targets_generate_messages_cpp
|
|||
add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_cpp)
|
||||
|
||||
# add dependencies to all check dependencies targets
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
|
||||
|
|
@ -61,6 +87,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_cp
|
|||
|
||||
### Section generating for lang: geneus
|
||||
### Generating Messages
|
||||
_generate_msg_eus(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_eus(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_eus(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
|
|
@ -82,6 +120,10 @@ add_custom_target(detect_targets_generate_messages_eus
|
|||
add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_eus)
|
||||
|
||||
# add dependencies to all check dependencies targets
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
|
||||
|
||||
|
|
@ -94,6 +136,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_eu
|
|||
|
||||
### Section generating for lang: genlisp
|
||||
### Generating Messages
|
||||
_generate_msg_lisp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_lisp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_lisp(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
|
|
@ -115,6 +169,10 @@ add_custom_target(detect_targets_generate_messages_lisp
|
|||
add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_lisp)
|
||||
|
||||
# add dependencies to all check dependencies targets
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
|
||||
|
||||
|
|
@ -127,6 +185,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_li
|
|||
|
||||
### Section generating for lang: gennodejs
|
||||
### Generating Messages
|
||||
_generate_msg_nodejs(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_nodejs(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_nodejs(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
|
|
@ -148,6 +218,10 @@ add_custom_target(detect_targets_generate_messages_nodejs
|
|||
add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_nodejs)
|
||||
|
||||
# add dependencies to all check dependencies targets
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
|
||||
|
||||
|
|
@ -160,6 +234,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_no
|
|||
|
||||
### Section generating for lang: genpy
|
||||
### Generating Messages
|
||||
_generate_msg_py(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_py(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
""
|
||||
${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/detect_targets
|
||||
)
|
||||
_generate_msg_py(detect_targets
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"${MSG_I_FLAGS}"
|
||||
|
|
@ -181,6 +267,10 @@ add_custom_target(detect_targets_generate_messages_py
|
|||
add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_py)
|
||||
|
||||
# add dependencies to all check dependencies targets
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
|
||||
get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
|
||||
add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
|
||||
|
||||
|
|
|
|||
|
|
@ -120,7 +120,11 @@ file(INSTALL DESTINATION "/home/klafyvel/Documents/supelec/2A/projet/workspace/i
|
|||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/detect_targets/msg" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/detect_targets/msg" TYPE FILE FILES
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
|
||||
"/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
|
||||
)
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
|
|
@ -155,6 +159,10 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_
|
|||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h")
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h")
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/__init__.py")
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
CMAKE_PROGRESS_1 = 9
|
||||
CMAKE_PROGRESS_2 = 10
|
||||
CMAKE_PROGRESS_3 = 11
|
||||
CMAKE_PROGRESS_1 = 20
|
||||
CMAKE_PROGRESS_2 = 21
|
||||
CMAKE_PROGRESS_3 = 22
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
CMAKE_PROGRESS_1 = 12
|
||||
CMAKE_PROGRESS_2 = 13
|
||||
CMAKE_PROGRESS_3 = 14
|
||||
CMAKE_PROGRESS_4 = 15
|
||||
CMAKE_PROGRESS_1 = 23
|
||||
CMAKE_PROGRESS_2 = 24
|
||||
CMAKE_PROGRESS_3 = 25
|
||||
CMAKE_PROGRESS_4 = 26
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,3 @@
|
|||
CMAKE_PROGRESS_1 = 16
|
||||
CMAKE_PROGRESS_2 = 17
|
||||
CMAKE_PROGRESS_1 = 27
|
||||
CMAKE_PROGRESS_2 = 28
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,3 @@
|
|||
CMAKE_PROGRESS_1 = 18
|
||||
CMAKE_PROGRESS_2 = 19
|
||||
CMAKE_PROGRESS_1 = 29
|
||||
CMAKE_PROGRESS_2 = 30
|
||||
|
||||
|
|
|
|||
|
|
@ -31,15 +31,20 @@ class TriangleControl:
|
|||
self.target_distance = config['distance_to_target']
|
||||
self.max_speed = config['max_speed']
|
||||
|
||||
self.pid_angular_z.Kp = config['angular_z_Kp']
|
||||
self.pid_angular_z.Ki = config['angular_z_Ki']
|
||||
self.pid_angular_z.Kd = config['angular_z_Kd']
|
||||
self.pid_angular_z.auto_mode = config['control_angular_z']
|
||||
#gains are reversed because of the chosen angle direction
|
||||
self.pid_angular_z.Kp = - config['angular_z_Kp']
|
||||
self.pid_angular_z.Ki = - config['angular_z_Ki']
|
||||
self.pid_angular_z.Kd = - config['angular_z_Kd']
|
||||
self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
|
||||
if not config['control_angular_z']:
|
||||
self.pid_angular_z._last_output = 0.0
|
||||
|
||||
self.pid_linear_z.Kp = config['linear_z_Kp']
|
||||
self.pid_linear_z.Ki = config['linear_z_Ki']
|
||||
self.pid_linear_z.Kd = config['linear_z_Kd']
|
||||
self.pid_linear_z.auto_mode = config['control_linear_z']
|
||||
self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
|
||||
if not config['control_linear_z']:
|
||||
self.pid_linear_z._last_output = 0.0
|
||||
self.pid_linear_z.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
|
|
@ -47,16 +52,21 @@ class TriangleControl:
|
|||
self.pid_linear_y.Kp = config['linear_y_Kp']
|
||||
self.pid_linear_y.Ki = config['linear_y_Ki']
|
||||
self.pid_linear_y.Kd = config['linear_y_Kd']
|
||||
self.pid_linear_y.auto_mode = config['control_linear_y']
|
||||
self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
|
||||
if not config['control_linear_y']:
|
||||
self.pid_linear_y._last_output = 0.0
|
||||
self.pid_linear_y.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
)
|
||||
|
||||
self.pid_linear_x.Kp = config['linear_x_Kp']
|
||||
self.pid_linear_x.Ki = config['linear_x_Ki']
|
||||
self.pid_linear_x.Kd = config['linear_x_Kd']
|
||||
self.pid_linear_x.auto_mode = config['control_linear_x']
|
||||
# X gains are reversed because of the chosen axis
|
||||
self.pid_linear_x.Kp = - config['linear_x_Kp']
|
||||
self.pid_linear_x.Ki = - config['linear_x_Ki']
|
||||
self.pid_linear_x.Kd = - config['linear_x_Kd']
|
||||
self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
|
||||
if not config['control_linear_x']:
|
||||
self.pid_linear_x._last_output = 0.0
|
||||
self.pid_linear_x.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
|
|
@ -137,24 +147,24 @@ class TriangleControl:
|
|||
self.twist.linear.z = self.pid_linear_z(self.z)
|
||||
if self.linear_z_pub.get_num_connections() > 0:
|
||||
self.linear_z_info.target = 0
|
||||
self.linear_z_info.error = self.error_linear_z[0]
|
||||
self.linear_z_info.derror = self.error_linear_z[1]
|
||||
self.linear_z_info.error = self.z
|
||||
self.linear_z_info.derror = 0
|
||||
self.linear_z_info.cmd_vel = self.twist.linear.z
|
||||
self.linear_z_pub.publish(self.linear_z_info)
|
||||
|
||||
self.twist.linear.y = self.pid_linear_y(self.alpha)
|
||||
self.twist.linear.y = self.pid_linear_y(-self.alpha)
|
||||
if self.linear_y_pub.get_num_connections() > 0:
|
||||
self.linear_y_info.target = 0
|
||||
self.linear_y_info.error = self.error_linear_y[0]
|
||||
self.linear_y_info.derror = self.error_linear_y[1]
|
||||
self.linear_y_info.error = -self.alpha
|
||||
self.linear_y_info.derror = 0
|
||||
self.linear_y_info.cmd_vel = self.twist.linear.y
|
||||
self.linear_y_pub.publish(self.linear_y_info)
|
||||
|
||||
self.twist.linear.x = self.pid_linear_x(self.d)
|
||||
if self.linear_x_pub.get_num_connections() > 0:
|
||||
self.linear_x_info.target = 0
|
||||
self.linear_x_info.error = self.error_linear_x[0]
|
||||
self.linear_x_info.derror = self.error_linear_x[1]
|
||||
self.linear_x_info.target = self.pid_linear_x.setpoint
|
||||
self.linear_x_info.error = self.target_distance - self.d
|
||||
self.linear_x_info.derror = 0
|
||||
self.linear_x_info.cmd_vel = self.twist.linear.x
|
||||
self.linear_x_pub.publish(self.linear_x_info)
|
||||
|
||||
|
|
|
|||
|
|
@ -31,15 +31,20 @@ class TriangleControl:
|
|||
self.target_distance = config['distance_to_target']
|
||||
self.max_speed = config['max_speed']
|
||||
|
||||
self.pid_angular_z.Kp = config['angular_z_Kp']
|
||||
self.pid_angular_z.Ki = config['angular_z_Ki']
|
||||
self.pid_angular_z.Kd = config['angular_z_Kd']
|
||||
self.pid_angular_z.auto_mode = config['control_angular_z']
|
||||
#gains are reversed because of the chosen angle direction
|
||||
self.pid_angular_z.Kp = - config['angular_z_Kp']
|
||||
self.pid_angular_z.Ki = - config['angular_z_Ki']
|
||||
self.pid_angular_z.Kd = - config['angular_z_Kd']
|
||||
self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
|
||||
if not config['control_angular_z']:
|
||||
self.pid_angular_z._last_output = 0.0
|
||||
|
||||
self.pid_linear_z.Kp = config['linear_z_Kp']
|
||||
self.pid_linear_z.Ki = config['linear_z_Ki']
|
||||
self.pid_linear_z.Kd = config['linear_z_Kd']
|
||||
self.pid_linear_z.auto_mode = config['control_linear_z']
|
||||
self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
|
||||
if not config['control_linear_z']:
|
||||
self.pid_linear_z._last_output = 0.0
|
||||
self.pid_linear_z.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
|
|
@ -47,16 +52,21 @@ class TriangleControl:
|
|||
self.pid_linear_y.Kp = config['linear_y_Kp']
|
||||
self.pid_linear_y.Ki = config['linear_y_Ki']
|
||||
self.pid_linear_y.Kd = config['linear_y_Kd']
|
||||
self.pid_linear_y.auto_mode = config['control_linear_y']
|
||||
self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
|
||||
if not config['control_linear_y']:
|
||||
self.pid_linear_y._last_output = 0.0
|
||||
self.pid_linear_y.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
)
|
||||
|
||||
self.pid_linear_x.Kp = config['linear_x_Kp']
|
||||
self.pid_linear_x.Ki = config['linear_x_Ki']
|
||||
self.pid_linear_x.Kd = config['linear_x_Kd']
|
||||
self.pid_linear_x.auto_mode = config['control_linear_x']
|
||||
# X gains are reversed because of the chosen axis
|
||||
self.pid_linear_x.Kp = - config['linear_x_Kp']
|
||||
self.pid_linear_x.Ki = - config['linear_x_Ki']
|
||||
self.pid_linear_x.Kd = - config['linear_x_Kd']
|
||||
self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
|
||||
if not config['control_linear_x']:
|
||||
self.pid_linear_x._last_output = 0.0
|
||||
self.pid_linear_x.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
|
|
@ -137,24 +147,24 @@ class TriangleControl:
|
|||
self.twist.linear.z = self.pid_linear_z(self.z)
|
||||
if self.linear_z_pub.get_num_connections() > 0:
|
||||
self.linear_z_info.target = 0
|
||||
self.linear_z_info.error = self.error_linear_z[0]
|
||||
self.linear_z_info.derror = self.error_linear_z[1]
|
||||
self.linear_z_info.error = self.z
|
||||
self.linear_z_info.derror = 0
|
||||
self.linear_z_info.cmd_vel = self.twist.linear.z
|
||||
self.linear_z_pub.publish(self.linear_z_info)
|
||||
|
||||
self.twist.linear.y = self.pid_linear_y(self.alpha)
|
||||
self.twist.linear.y = self.pid_linear_y(-self.alpha)
|
||||
if self.linear_y_pub.get_num_connections() > 0:
|
||||
self.linear_y_info.target = 0
|
||||
self.linear_y_info.error = self.error_linear_y[0]
|
||||
self.linear_y_info.derror = self.error_linear_y[1]
|
||||
self.linear_y_info.error = -self.alpha
|
||||
self.linear_y_info.derror = 0
|
||||
self.linear_y_info.cmd_vel = self.twist.linear.y
|
||||
self.linear_y_pub.publish(self.linear_y_info)
|
||||
|
||||
self.twist.linear.x = self.pid_linear_x(self.d)
|
||||
if self.linear_x_pub.get_num_connections() > 0:
|
||||
self.linear_x_info.target = 0
|
||||
self.linear_x_info.error = self.error_linear_x[0]
|
||||
self.linear_x_info.derror = self.error_linear_x[1]
|
||||
self.linear_x_info.target = self.pid_linear_x.setpoint
|
||||
self.linear_x_info.error = self.target_distance - self.d
|
||||
self.linear_x_info.derror = 0
|
||||
self.linear_x_info.cmd_vel = self.twist.linear.x
|
||||
self.linear_x_pub.publish(self.linear_x_info)
|
||||
|
||||
|
|
|
|||
|
|
@ -10,8 +10,6 @@ set(CMAKE_MAKEFILE_DEPENDS
|
|||
"CMakeFiles/3.10.2/CMakeCCompiler.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeSystem.cmake"
|
||||
"CMakeFiles/feature_tests.c"
|
||||
"CMakeFiles/feature_tests.cxx"
|
||||
"catkin/catkin_generated/version/package.cmake"
|
||||
"catkin_generated/installspace/_setup_util.py"
|
||||
"catkin_generated/ordered_paths.cmake"
|
||||
|
|
@ -129,95 +127,27 @@ set(CMAKE_MAKEFILE_DEPENDS
|
|||
"/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgs-msg-extras.cmake"
|
||||
"/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgsConfig-version.cmake"
|
||||
"/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgsConfig.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCCompiler.cmake.in"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCCompilerABI.c"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCInformation.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCXXCompiler.cmake.in"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCXXCompilerABI.cpp"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCXXInformation.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCommonLanguageInclude.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeCompilerIdDetection.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeConfigurableFile.in"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCXXCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCompileFeatures.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCompilerABI.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineCompilerId.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeDetermineSystem.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeFindBinUtils.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeGenericSystem.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeLanguageInformation.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeParseArguments.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeParseImplicitLinkInfo.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeSystem.cmake.in"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeSystemSpecificInformation.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeSystemSpecificInitialize.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeTestCCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeTestCXXCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeTestCompilerCommon.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CMakeUnixFindMake.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CheckFunctionExists.c"
|
||||
"/usr/share/cmake-3.10/Modules/CheckIncludeFile.c.in"
|
||||
"/usr/share/cmake-3.10/Modules/CheckIncludeFile.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CheckLibraryExists.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/CheckSymbolExists.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/ADSP-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Borland-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Bruce-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Clang-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Cray-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GHS-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-C-FeatureTests.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-C.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX-FeatureTests.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU-FindBinUtils.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/GNU.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/HP-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/IAR-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Intel-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/MIPSpro-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/MSVC-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/PGI-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/PathScale-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/SCO-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/TI-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/Watcom-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/XL-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/FindGTest.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/FindPackageMessage.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/FindPythonInterp.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/FindThreads.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/GoogleTest.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Internal/FeatureTesting.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Platform/Linux-Determine-CXX.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Platform/Linux-GNU-C.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Platform/Linux-GNU-CXX.cmake"
|
||||
"/usr/share/cmake-3.10/Modules/Platform/Linux-GNU.cmake"
|
||||
|
|
@ -237,11 +167,6 @@ set(CMAKE_MAKEFILE_OUTPUTS
|
|||
|
||||
# Byproducts of CMake generate step:
|
||||
set(CMAKE_MAKEFILE_PRODUCTS
|
||||
"CMakeFiles/3.10.2/CMakeSystem.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeCCompiler.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeCCompiler.cmake"
|
||||
"CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
|
||||
"catkin_generated/stamps/teleop_tools_msgs/package.xml.stamp"
|
||||
"catkin_generated/installspace/_setup_util.py"
|
||||
"catkin_generated/stamps/teleop_tools_msgs/_setup_util.py.stamp"
|
||||
|
|
|
|||
|
|
@ -8,6 +8,9 @@
|
|||
|
||||
# modified environment variables
|
||||
export CMAKE_PREFIX_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs:$CMAKE_PREFIX_PATH"
|
||||
export LD_LIBRARY_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib:$LD_LIBRARY_PATH"
|
||||
export PKG_CONFIG_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib/pkgconfig:$PKG_CONFIG_PATH"
|
||||
export PWD="/home/klafyvel/Documents/supelec/2A/projet/workspace/build/teleop_tools_msgs"
|
||||
export PYTHONPATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib/python2.7/dist-packages:$PYTHONPATH"
|
||||
export ROSLISP_PACKAGE_DIRECTORIES="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
|
||||
export ROS_PACKAGE_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/src/teleop_tools/teleop_tools_msgs:$ROS_PACKAGE_PATH"
|
||||
|
|
@ -0,0 +1,767 @@
|
|||
//#line 2 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||
// *********************************************************
|
||||
//
|
||||
// File autogenerated for the detect_targets package
|
||||
// by the dynamic_reconfigure package.
|
||||
// Please do not edit.
|
||||
//
|
||||
// ********************************************************/
|
||||
|
||||
#ifndef __detect_targets__TRIANGLEPARAMCONFIG_H__
|
||||
#define __detect_targets__TRIANGLEPARAMCONFIG_H__
|
||||
|
||||
#if __cplusplus >= 201103L
|
||||
#define DYNAMIC_RECONFIGURE_FINAL final
|
||||
#else
|
||||
#define DYNAMIC_RECONFIGURE_FINAL
|
||||
#endif
|
||||
|
||||
#include <dynamic_reconfigure/config_tools.h>
|
||||
#include <limits>
|
||||
#include <ros/node_handle.h>
|
||||
#include <dynamic_reconfigure/ConfigDescription.h>
|
||||
#include <dynamic_reconfigure/ParamDescription.h>
|
||||
#include <dynamic_reconfigure/Group.h>
|
||||
#include <dynamic_reconfigure/config_init_mutex.h>
|
||||
#include <boost/any.hpp>
|
||||
|
||||
namespace detect_targets
|
||||
{
|
||||
class TriangleParamConfigStatics;
|
||||
|
||||
class TriangleParamConfig
|
||||
{
|
||||
public:
|
||||
class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
|
||||
{
|
||||
public:
|
||||
AbstractParamDescription(std::string n, std::string t, uint32_t l,
|
||||
std::string d, std::string e)
|
||||
{
|
||||
name = n;
|
||||
type = t;
|
||||
level = l;
|
||||
description = d;
|
||||
edit_method = e;
|
||||
}
|
||||
|
||||
virtual void clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const = 0;
|
||||
virtual void calcLevel(uint32_t &level, const TriangleParamConfig &config1, const TriangleParamConfig &config2) const = 0;
|
||||
virtual void fromServer(const ros::NodeHandle &nh, TriangleParamConfig &config) const = 0;
|
||||
virtual void toServer(const ros::NodeHandle &nh, const TriangleParamConfig &config) const = 0;
|
||||
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TriangleParamConfig &config) const = 0;
|
||||
virtual void toMessage(dynamic_reconfigure::Config &msg, const TriangleParamConfig &config) const = 0;
|
||||
virtual void getValue(const TriangleParamConfig &config, boost::any &val) const = 0;
|
||||
};
|
||||
|
||||
typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
|
||||
typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
|
||||
|
||||
// Final keyword added to class because it has virtual methods and inherits
|
||||
// from a class with a non-virtual destructor.
|
||||
template <class T>
|
||||
class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
|
||||
{
|
||||
public:
|
||||
ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
|
||||
std::string a_description, std::string a_edit_method, T TriangleParamConfig::* a_f) :
|
||||
AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
|
||||
field(a_f)
|
||||
{}
|
||||
|
||||
T (TriangleParamConfig::* field);
|
||||
|
||||
virtual void clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const
|
||||
{
|
||||
if (config.*field > max.*field)
|
||||
config.*field = max.*field;
|
||||
|
||||
if (config.*field < min.*field)
|
||||
config.*field = min.*field;
|
||||
}
|
||||
|
||||
virtual void calcLevel(uint32_t &comb_level, const TriangleParamConfig &config1, const TriangleParamConfig &config2) const
|
||||
{
|
||||
if (config1.*field != config2.*field)
|
||||
comb_level |= level;
|
||||
}
|
||||
|
||||
virtual void fromServer(const ros::NodeHandle &nh, TriangleParamConfig &config) const
|
||||
{
|
||||
nh.getParam(name, config.*field);
|
||||
}
|
||||
|
||||
virtual void toServer(const ros::NodeHandle &nh, const TriangleParamConfig &config) const
|
||||
{
|
||||
nh.setParam(name, config.*field);
|
||||
}
|
||||
|
||||
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TriangleParamConfig &config) const
|
||||
{
|
||||
return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
|
||||
}
|
||||
|
||||
virtual void toMessage(dynamic_reconfigure::Config &msg, const TriangleParamConfig &config) const
|
||||
{
|
||||
dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
|
||||
}
|
||||
|
||||
virtual void getValue(const TriangleParamConfig &config, boost::any &val) const
|
||||
{
|
||||
val = config.*field;
|
||||
}
|
||||
};
|
||||
|
||||
class AbstractGroupDescription : public dynamic_reconfigure::Group
|
||||
{
|
||||
public:
|
||||
AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
|
||||
{
|
||||
name = n;
|
||||
type = t;
|
||||
parent = p;
|
||||
state = s;
|
||||
id = i;
|
||||
}
|
||||
|
||||
std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
|
||||
bool state;
|
||||
|
||||
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
|
||||
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
|
||||
virtual void updateParams(boost::any &cfg, TriangleParamConfig &top) const= 0;
|
||||
virtual void setInitialState(boost::any &cfg) const = 0;
|
||||
|
||||
|
||||
void convertParams()
|
||||
{
|
||||
for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
|
||||
{
|
||||
parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
|
||||
typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
|
||||
|
||||
// Final keyword added to class because it has virtual methods and inherits
|
||||
// from a class with a non-virtual destructor.
|
||||
template<class T, class PT>
|
||||
class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
|
||||
{
|
||||
public:
|
||||
GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
|
||||
{
|
||||
}
|
||||
|
||||
GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
|
||||
{
|
||||
parameters = g.parameters;
|
||||
abstract_parameters = g.abstract_parameters;
|
||||
}
|
||||
|
||||
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
|
||||
{
|
||||
PT* config = boost::any_cast<PT*>(cfg);
|
||||
if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
|
||||
return false;
|
||||
|
||||
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||
{
|
||||
boost::any n = &((*config).*field);
|
||||
if(!(*i)->fromMessage(msg, n))
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
virtual void setInitialState(boost::any &cfg) const
|
||||
{
|
||||
PT* config = boost::any_cast<PT*>(cfg);
|
||||
T* group = &((*config).*field);
|
||||
group->state = state;
|
||||
|
||||
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||
{
|
||||
boost::any n = boost::any(&((*config).*field));
|
||||
(*i)->setInitialState(n);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual void updateParams(boost::any &cfg, TriangleParamConfig &top) const
|
||||
{
|
||||
PT* config = boost::any_cast<PT*>(cfg);
|
||||
|
||||
T* f = &((*config).*field);
|
||||
f->setParams(top, abstract_parameters);
|
||||
|
||||
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||
{
|
||||
boost::any n = &((*config).*field);
|
||||
(*i)->updateParams(n, top);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
|
||||
{
|
||||
const PT config = boost::any_cast<PT>(cfg);
|
||||
dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
|
||||
|
||||
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||
{
|
||||
(*i)->toMessage(msg, config.*field);
|
||||
}
|
||||
}
|
||||
|
||||
T (PT::* field);
|
||||
std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> groups;
|
||||
};
|
||||
|
||||
class DEFAULT
|
||||
{
|
||||
public:
|
||||
DEFAULT()
|
||||
{
|
||||
state = true;
|
||||
name = "Default";
|
||||
}
|
||||
|
||||
void setParams(TriangleParamConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
|
||||
{
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
|
||||
{
|
||||
boost::any val;
|
||||
(*_i)->getValue(config, val);
|
||||
|
||||
if("camera_angle"==(*_i)->name){camera_angle = boost::any_cast<double>(val);}
|
||||
if("target_width"==(*_i)->name){target_width = boost::any_cast<double>(val);}
|
||||
if("target_depth"==(*_i)->name){target_depth = boost::any_cast<double>(val);}
|
||||
if("distance_to_target"==(*_i)->name){distance_to_target = boost::any_cast<double>(val);}
|
||||
if("max_speed"==(*_i)->name){max_speed = boost::any_cast<double>(val);}
|
||||
if("linear_x_Kp"==(*_i)->name){linear_x_Kp = boost::any_cast<double>(val);}
|
||||
if("linear_x_Ki"==(*_i)->name){linear_x_Ki = boost::any_cast<double>(val);}
|
||||
if("linear_x_Kd"==(*_i)->name){linear_x_Kd = boost::any_cast<double>(val);}
|
||||
if("control_linear_x"==(*_i)->name){control_linear_x = boost::any_cast<bool>(val);}
|
||||
if("linear_y_Kp"==(*_i)->name){linear_y_Kp = boost::any_cast<double>(val);}
|
||||
if("linear_y_Ki"==(*_i)->name){linear_y_Ki = boost::any_cast<double>(val);}
|
||||
if("linear_y_Kd"==(*_i)->name){linear_y_Kd = boost::any_cast<double>(val);}
|
||||
if("control_linear_y"==(*_i)->name){control_linear_y = boost::any_cast<bool>(val);}
|
||||
if("linear_z_Kp"==(*_i)->name){linear_z_Kp = boost::any_cast<double>(val);}
|
||||
if("linear_z_Ki"==(*_i)->name){linear_z_Ki = boost::any_cast<double>(val);}
|
||||
if("linear_z_Kd"==(*_i)->name){linear_z_Kd = boost::any_cast<double>(val);}
|
||||
if("control_linear_z"==(*_i)->name){control_linear_z = boost::any_cast<bool>(val);}
|
||||
if("angular_z_Kp"==(*_i)->name){angular_z_Kp = boost::any_cast<double>(val);}
|
||||
if("angular_z_Ki"==(*_i)->name){angular_z_Ki = boost::any_cast<double>(val);}
|
||||
if("angular_z_Kd"==(*_i)->name){angular_z_Kd = boost::any_cast<double>(val);}
|
||||
if("control_angular_z"==(*_i)->name){control_angular_z = boost::any_cast<bool>(val);}
|
||||
}
|
||||
}
|
||||
|
||||
double camera_angle;
|
||||
double target_width;
|
||||
double target_depth;
|
||||
double distance_to_target;
|
||||
double max_speed;
|
||||
double linear_x_Kp;
|
||||
double linear_x_Ki;
|
||||
double linear_x_Kd;
|
||||
bool control_linear_x;
|
||||
double linear_y_Kp;
|
||||
double linear_y_Ki;
|
||||
double linear_y_Kd;
|
||||
bool control_linear_y;
|
||||
double linear_z_Kp;
|
||||
double linear_z_Ki;
|
||||
double linear_z_Kd;
|
||||
bool control_linear_z;
|
||||
double angular_z_Kp;
|
||||
double angular_z_Ki;
|
||||
double angular_z_Kd;
|
||||
bool control_angular_z;
|
||||
|
||||
bool state;
|
||||
std::string name;
|
||||
|
||||
|
||||
}groups;
|
||||
|
||||
|
||||
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double camera_angle;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double target_width;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double target_depth;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double distance_to_target;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double max_speed;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_x_Kp;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_x_Ki;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_x_Kd;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
bool control_linear_x;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_y_Kp;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_y_Ki;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_y_Kd;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
bool control_linear_y;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_z_Kp;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_z_Ki;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double linear_z_Kd;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
bool control_linear_z;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double angular_z_Kp;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double angular_z_Ki;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
double angular_z_Kd;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
bool control_angular_z;
|
||||
//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||
|
||||
bool __fromMessage__(dynamic_reconfigure::Config &msg)
|
||||
{
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||
|
||||
int count = 0;
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
if ((*i)->fromMessage(msg, *this))
|
||||
count++;
|
||||
|
||||
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
|
||||
{
|
||||
if ((*i)->id == 0)
|
||||
{
|
||||
boost::any n = boost::any(this);
|
||||
(*i)->updateParams(n, *this);
|
||||
(*i)->fromMessage(msg, n);
|
||||
}
|
||||
}
|
||||
|
||||
if (count != dynamic_reconfigure::ConfigTools::size(msg))
|
||||
{
|
||||
ROS_ERROR("TriangleParamConfig::__fromMessage__ called with an unexpected parameter.");
|
||||
ROS_ERROR("Booleans:");
|
||||
for (unsigned int i = 0; i < msg.bools.size(); i++)
|
||||
ROS_ERROR(" %s", msg.bools[i].name.c_str());
|
||||
ROS_ERROR("Integers:");
|
||||
for (unsigned int i = 0; i < msg.ints.size(); i++)
|
||||
ROS_ERROR(" %s", msg.ints[i].name.c_str());
|
||||
ROS_ERROR("Doubles:");
|
||||
for (unsigned int i = 0; i < msg.doubles.size(); i++)
|
||||
ROS_ERROR(" %s", msg.doubles[i].name.c_str());
|
||||
ROS_ERROR("Strings:");
|
||||
for (unsigned int i = 0; i < msg.strs.size(); i++)
|
||||
ROS_ERROR(" %s", msg.strs[i].name.c_str());
|
||||
// @todo Check that there are no duplicates. Make this error more
|
||||
// explicit.
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
// This version of __toMessage__ is used during initialization of
|
||||
// statics when __getParamDescriptions__ can't be called yet.
|
||||
void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
|
||||
{
|
||||
dynamic_reconfigure::ConfigTools::clear(msg);
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
(*i)->toMessage(msg, *this);
|
||||
|
||||
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
|
||||
{
|
||||
if((*i)->id == 0)
|
||||
{
|
||||
(*i)->toMessage(msg, *this);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void __toMessage__(dynamic_reconfigure::Config &msg) const
|
||||
{
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||
__toMessage__(msg, __param_descriptions__, __group_descriptions__);
|
||||
}
|
||||
|
||||
void __toServer__(const ros::NodeHandle &nh) const
|
||||
{
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
(*i)->toServer(nh, *this);
|
||||
}
|
||||
|
||||
void __fromServer__(const ros::NodeHandle &nh)
|
||||
{
|
||||
static bool setup=false;
|
||||
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
(*i)->fromServer(nh, *this);
|
||||
|
||||
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
|
||||
if (!setup && (*i)->id == 0) {
|
||||
setup = true;
|
||||
boost::any n = boost::any(this);
|
||||
(*i)->setInitialState(n);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void __clamp__()
|
||||
{
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
const TriangleParamConfig &__max__ = __getMax__();
|
||||
const TriangleParamConfig &__min__ = __getMin__();
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
(*i)->clamp(*this, __max__, __min__);
|
||||
}
|
||||
|
||||
uint32_t __level__(const TriangleParamConfig &config) const
|
||||
{
|
||||
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||
uint32_t level = 0;
|
||||
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||
(*i)->calcLevel(level, config, *this);
|
||||
return level;
|
||||
}
|
||||
|
||||
static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
|
||||
static const TriangleParamConfig &__getDefault__();
|
||||
static const TriangleParamConfig &__getMax__();
|
||||
static const TriangleParamConfig &__getMin__();
|
||||
static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
|
||||
static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
|
||||
|
||||
private:
|
||||
static const TriangleParamConfigStatics *__get_statics__();
|
||||
};
|
||||
|
||||
template <> // Max and min are ignored for strings.
|
||||
inline void TriangleParamConfig::ParamDescription<std::string>::clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const
|
||||
{
|
||||
(void) config;
|
||||
(void) min;
|
||||
(void) max;
|
||||
return;
|
||||
}
|
||||
|
||||
class TriangleParamConfigStatics
|
||||
{
|
||||
friend class TriangleParamConfig;
|
||||
|
||||
TriangleParamConfigStatics()
|
||||
{
|
||||
TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TriangleParamConfig> Default("Default", "", 0, 0, true, &TriangleParamConfig::groups);
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.camera_angle = 50.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.camera_angle = 180.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.camera_angle = 80.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("camera_angle", "double", 0, "The angle corresponding to the image width", "", &TriangleParamConfig::camera_angle)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("camera_angle", "double", 0, "The angle corresponding to the image width", "", &TriangleParamConfig::camera_angle)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.target_width = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.target_width = 1.5;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.target_width = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_width", "double", 0, "the real target width (m)", "", &TriangleParamConfig::target_width)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_width", "double", 0, "the real target width (m)", "", &TriangleParamConfig::target_width)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.target_depth = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.target_depth = 0.5;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.target_depth = 0.2;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_depth", "double", 0, "the real target depth (m)", "", &TriangleParamConfig::target_depth)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_depth", "double", 0, "the real target depth (m)", "", &TriangleParamConfig::target_depth)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.distance_to_target = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.distance_to_target = 5.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.distance_to_target = 2.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("distance_to_target", "double", 0, "The required distance to the target (m)", "", &TriangleParamConfig::distance_to_target)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("distance_to_target", "double", 0, "The required distance to the target (m)", "", &TriangleParamConfig::distance_to_target)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.max_speed = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.max_speed = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.max_speed = 0.3;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("max_speed", "double", 0, "the maximal linear speed", "", &TriangleParamConfig::max_speed)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("max_speed", "double", 0, "the maximal linear speed", "", &TriangleParamConfig::max_speed)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.control_linear_x = 0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.control_linear_x = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.control_linear_x = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_x", "bool", 0, "Control distance to target", "", &TriangleParamConfig::control_linear_x)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_x", "bool", 0, "Control distance to target", "", &TriangleParamConfig::control_linear_x)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.control_linear_y = 0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.control_linear_y = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.control_linear_y = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_y", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_y)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_y", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_y)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Kp = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Kp = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kp", "double", 0, "linear.z controller Kp", "", &TriangleParamConfig::linear_z_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kp", "double", 0, "linear.z controller Kp", "", &TriangleParamConfig::linear_z_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Ki = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Ki = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Ki", "double", 0, "linear.z controller Ki", "", &TriangleParamConfig::linear_z_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Ki", "double", 0, "linear.z controller Ki", "", &TriangleParamConfig::linear_z_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Kd = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Kd = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kd", "double", 0, "linear.z controller Kd", "", &TriangleParamConfig::linear_z_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kd", "double", 0, "linear.z controller Kd", "", &TriangleParamConfig::linear_z_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.control_linear_z = 0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.control_linear_z = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.control_linear_z = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_z)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_z)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.control_angular_z = 0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.control_angular_z = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.control_angular_z = 1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_angular_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_angular_z)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_angular_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_angular_z)));
|
||||
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.convertParams();
|
||||
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__group_descriptions__.push_back(TriangleParamConfig::AbstractGroupDescriptionConstPtr(new TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TriangleParamConfig>(Default)));
|
||||
//#line 366 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||
|
||||
for (std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
|
||||
{
|
||||
__description_message__.groups.push_back(**i);
|
||||
}
|
||||
__max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
|
||||
__min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
|
||||
__default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
|
||||
}
|
||||
std::vector<TriangleParamConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
|
||||
std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
|
||||
TriangleParamConfig __max__;
|
||||
TriangleParamConfig __min__;
|
||||
TriangleParamConfig __default__;
|
||||
dynamic_reconfigure::ConfigDescription __description_message__;
|
||||
|
||||
static const TriangleParamConfigStatics *get_instance()
|
||||
{
|
||||
// Split this off in a separate function because I know that
|
||||
// instance will get initialized the first time get_instance is
|
||||
// called, and I am guaranteeing that get_instance gets called at
|
||||
// most once.
|
||||
static TriangleParamConfigStatics instance;
|
||||
return &instance;
|
||||
}
|
||||
};
|
||||
|
||||
inline const dynamic_reconfigure::ConfigDescription &TriangleParamConfig::__getDescriptionMessage__()
|
||||
{
|
||||
return __get_statics__()->__description_message__;
|
||||
}
|
||||
|
||||
inline const TriangleParamConfig &TriangleParamConfig::__getDefault__()
|
||||
{
|
||||
return __get_statics__()->__default__;
|
||||
}
|
||||
|
||||
inline const TriangleParamConfig &TriangleParamConfig::__getMax__()
|
||||
{
|
||||
return __get_statics__()->__max__;
|
||||
}
|
||||
|
||||
inline const TriangleParamConfig &TriangleParamConfig::__getMin__()
|
||||
{
|
||||
return __get_statics__()->__min__;
|
||||
}
|
||||
|
||||
inline const std::vector<TriangleParamConfig::AbstractParamDescriptionConstPtr> &TriangleParamConfig::__getParamDescriptions__()
|
||||
{
|
||||
return __get_statics__()->__param_descriptions__;
|
||||
}
|
||||
|
||||
inline const std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> &TriangleParamConfig::__getGroupDescriptions__()
|
||||
{
|
||||
return __get_statics__()->__group_descriptions__;
|
||||
}
|
||||
|
||||
inline const TriangleParamConfigStatics *TriangleParamConfig::__get_statics__()
|
||||
{
|
||||
const static TriangleParamConfigStatics *statics;
|
||||
|
||||
if (statics) // Common case
|
||||
return statics;
|
||||
|
||||
boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
|
||||
|
||||
if (statics) // In case we lost a race.
|
||||
return statics;
|
||||
|
||||
statics = TriangleParamConfigStatics::get_instance();
|
||||
|
||||
return statics;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
#undef DYNAMIC_RECONFIGURE_FINAL
|
||||
|
||||
#endif // __TRIANGLEPARAMRECONFIGURATOR_H__
|
||||
|
|
@ -0,0 +1,214 @@
|
|||
// Generated by gencpp from file detect_targets/component_center.msg
|
||||
// DO NOT EDIT!
|
||||
|
||||
|
||||
#ifndef DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H
|
||||
#define DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H
|
||||
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <map>
|
||||
|
||||
#include <ros/types.h>
|
||||
#include <ros/serialization.h>
|
||||
#include <ros/builtin_message_traits.h>
|
||||
#include <ros/message_operations.h>
|
||||
|
||||
|
||||
namespace detect_targets
|
||||
{
|
||||
template <class ContainerAllocator>
|
||||
struct component_center_
|
||||
{
|
||||
typedef component_center_<ContainerAllocator> Type;
|
||||
|
||||
component_center_()
|
||||
: label(0)
|
||||
, nb_vertex(0)
|
||||
, x(0.0)
|
||||
, y(0.0) {
|
||||
}
|
||||
component_center_(const ContainerAllocator& _alloc)
|
||||
: label(0)
|
||||
, nb_vertex(0)
|
||||
, x(0.0)
|
||||
, y(0.0) {
|
||||
(void)_alloc;
|
||||
}
|
||||
|
||||
|
||||
|
||||
typedef int64_t _label_type;
|
||||
_label_type label;
|
||||
|
||||
typedef int64_t _nb_vertex_type;
|
||||
_nb_vertex_type nb_vertex;
|
||||
|
||||
typedef double _x_type;
|
||||
_x_type x;
|
||||
|
||||
typedef double _y_type;
|
||||
_y_type y;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
typedef boost::shared_ptr< ::detect_targets::component_center_<ContainerAllocator> > Ptr;
|
||||
typedef boost::shared_ptr< ::detect_targets::component_center_<ContainerAllocator> const> ConstPtr;
|
||||
|
||||
}; // struct component_center_
|
||||
|
||||
typedef ::detect_targets::component_center_<std::allocator<void> > component_center;
|
||||
|
||||
typedef boost::shared_ptr< ::detect_targets::component_center > component_centerPtr;
|
||||
typedef boost::shared_ptr< ::detect_targets::component_center const> component_centerConstPtr;
|
||||
|
||||
// constants requiring out of line definition
|
||||
|
||||
|
||||
|
||||
template<typename ContainerAllocator>
|
||||
std::ostream& operator<<(std::ostream& s, const ::detect_targets::component_center_<ContainerAllocator> & v)
|
||||
{
|
||||
ros::message_operations::Printer< ::detect_targets::component_center_<ContainerAllocator> >::stream(s, "", v);
|
||||
return s;
|
||||
}
|
||||
|
||||
} // namespace detect_targets
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace message_traits
|
||||
{
|
||||
|
||||
|
||||
|
||||
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
|
||||
// {'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg'], 'detect_targets': ['/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg']}
|
||||
|
||||
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
|
||||
|
||||
|
||||
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsFixedSize< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsFixedSize< ::detect_targets::component_center_<ContainerAllocator> const>
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsMessage< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsMessage< ::detect_targets::component_center_<ContainerAllocator> const>
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct HasHeader< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
: FalseType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct HasHeader< ::detect_targets::component_center_<ContainerAllocator> const>
|
||||
: FalseType
|
||||
{ };
|
||||
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct MD5Sum< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "da1879b15a6566f498d1395c2d529084";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
|
||||
static const uint64_t static_value1 = 0xda1879b15a6566f4ULL;
|
||||
static const uint64_t static_value2 = 0x98d1395c2d529084ULL;
|
||||
};
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct DataType< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "detect_targets/component_center";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
|
||||
};
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct Definition< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "int64 label\n\
|
||||
int64 nb_vertex\n\
|
||||
float64 x\n\
|
||||
float64 y\n\
|
||||
";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
|
||||
};
|
||||
|
||||
} // namespace message_traits
|
||||
} // namespace ros
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace serialization
|
||||
{
|
||||
|
||||
template<class ContainerAllocator> struct Serializer< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
{
|
||||
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
|
||||
{
|
||||
stream.next(m.label);
|
||||
stream.next(m.nb_vertex);
|
||||
stream.next(m.x);
|
||||
stream.next(m.y);
|
||||
}
|
||||
|
||||
ROS_DECLARE_ALLINONE_SERIALIZER
|
||||
}; // struct component_center_
|
||||
|
||||
} // namespace serialization
|
||||
} // namespace ros
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace message_operations
|
||||
{
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct Printer< ::detect_targets::component_center_<ContainerAllocator> >
|
||||
{
|
||||
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::detect_targets::component_center_<ContainerAllocator>& v)
|
||||
{
|
||||
s << indent << "label: ";
|
||||
Printer<int64_t>::stream(s, indent + " ", v.label);
|
||||
s << indent << "nb_vertex: ";
|
||||
Printer<int64_t>::stream(s, indent + " ", v.nb_vertex);
|
||||
s << indent << "x: ";
|
||||
Printer<double>::stream(s, indent + " ", v.x);
|
||||
s << indent << "y: ";
|
||||
Printer<double>::stream(s, indent + " ", v.y);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace message_operations
|
||||
} // namespace ros
|
||||
|
||||
#endif // DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H
|
||||
|
|
@ -0,0 +1,214 @@
|
|||
// Generated by gencpp from file detect_targets/control.msg
|
||||
// DO NOT EDIT!
|
||||
|
||||
|
||||
#ifndef DETECT_TARGETS_MESSAGE_CONTROL_H
|
||||
#define DETECT_TARGETS_MESSAGE_CONTROL_H
|
||||
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <map>
|
||||
|
||||
#include <ros/types.h>
|
||||
#include <ros/serialization.h>
|
||||
#include <ros/builtin_message_traits.h>
|
||||
#include <ros/message_operations.h>
|
||||
|
||||
|
||||
namespace detect_targets
|
||||
{
|
||||
template <class ContainerAllocator>
|
||||
struct control_
|
||||
{
|
||||
typedef control_<ContainerAllocator> Type;
|
||||
|
||||
control_()
|
||||
: target(0.0)
|
||||
, error(0.0)
|
||||
, derror(0.0)
|
||||
, cmd_vel(0.0) {
|
||||
}
|
||||
control_(const ContainerAllocator& _alloc)
|
||||
: target(0.0)
|
||||
, error(0.0)
|
||||
, derror(0.0)
|
||||
, cmd_vel(0.0) {
|
||||
(void)_alloc;
|
||||
}
|
||||
|
||||
|
||||
|
||||
typedef double _target_type;
|
||||
_target_type target;
|
||||
|
||||
typedef double _error_type;
|
||||
_error_type error;
|
||||
|
||||
typedef double _derror_type;
|
||||
_derror_type derror;
|
||||
|
||||
typedef double _cmd_vel_type;
|
||||
_cmd_vel_type cmd_vel;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
typedef boost::shared_ptr< ::detect_targets::control_<ContainerAllocator> > Ptr;
|
||||
typedef boost::shared_ptr< ::detect_targets::control_<ContainerAllocator> const> ConstPtr;
|
||||
|
||||
}; // struct control_
|
||||
|
||||
typedef ::detect_targets::control_<std::allocator<void> > control;
|
||||
|
||||
typedef boost::shared_ptr< ::detect_targets::control > controlPtr;
|
||||
typedef boost::shared_ptr< ::detect_targets::control const> controlConstPtr;
|
||||
|
||||
// constants requiring out of line definition
|
||||
|
||||
|
||||
|
||||
template<typename ContainerAllocator>
|
||||
std::ostream& operator<<(std::ostream& s, const ::detect_targets::control_<ContainerAllocator> & v)
|
||||
{
|
||||
ros::message_operations::Printer< ::detect_targets::control_<ContainerAllocator> >::stream(s, "", v);
|
||||
return s;
|
||||
}
|
||||
|
||||
} // namespace detect_targets
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace message_traits
|
||||
{
|
||||
|
||||
|
||||
|
||||
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
|
||||
// {'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg'], 'detect_targets': ['/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg']}
|
||||
|
||||
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
|
||||
|
||||
|
||||
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsFixedSize< ::detect_targets::control_<ContainerAllocator> >
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsFixedSize< ::detect_targets::control_<ContainerAllocator> const>
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsMessage< ::detect_targets::control_<ContainerAllocator> >
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct IsMessage< ::detect_targets::control_<ContainerAllocator> const>
|
||||
: TrueType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct HasHeader< ::detect_targets::control_<ContainerAllocator> >
|
||||
: FalseType
|
||||
{ };
|
||||
|
||||
template <class ContainerAllocator>
|
||||
struct HasHeader< ::detect_targets::control_<ContainerAllocator> const>
|
||||
: FalseType
|
||||
{ };
|
||||
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct MD5Sum< ::detect_targets::control_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "6f80b008c55c6a68dec8d378f0b74e50";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
|
||||
static const uint64_t static_value1 = 0x6f80b008c55c6a68ULL;
|
||||
static const uint64_t static_value2 = 0xdec8d378f0b74e50ULL;
|
||||
};
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct DataType< ::detect_targets::control_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "detect_targets/control";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
|
||||
};
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct Definition< ::detect_targets::control_<ContainerAllocator> >
|
||||
{
|
||||
static const char* value()
|
||||
{
|
||||
return "float64 target\n\
|
||||
float64 error\n\
|
||||
float64 derror\n\
|
||||
float64 cmd_vel\n\
|
||||
";
|
||||
}
|
||||
|
||||
static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
|
||||
};
|
||||
|
||||
} // namespace message_traits
|
||||
} // namespace ros
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace serialization
|
||||
{
|
||||
|
||||
template<class ContainerAllocator> struct Serializer< ::detect_targets::control_<ContainerAllocator> >
|
||||
{
|
||||
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
|
||||
{
|
||||
stream.next(m.target);
|
||||
stream.next(m.error);
|
||||
stream.next(m.derror);
|
||||
stream.next(m.cmd_vel);
|
||||
}
|
||||
|
||||
ROS_DECLARE_ALLINONE_SERIALIZER
|
||||
}; // struct control_
|
||||
|
||||
} // namespace serialization
|
||||
} // namespace ros
|
||||
|
||||
namespace ros
|
||||
{
|
||||
namespace message_operations
|
||||
{
|
||||
|
||||
template<class ContainerAllocator>
|
||||
struct Printer< ::detect_targets::control_<ContainerAllocator> >
|
||||
{
|
||||
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::detect_targets::control_<ContainerAllocator>& v)
|
||||
{
|
||||
s << indent << "target: ";
|
||||
Printer<double>::stream(s, indent + " ", v.target);
|
||||
s << indent << "error: ";
|
||||
Printer<double>::stream(s, indent + " ", v.error);
|
||||
s << indent << "derror: ";
|
||||
Printer<double>::stream(s, indent + " ", v.derror);
|
||||
s << indent << "cmd_vel: ";
|
||||
Printer<double>::stream(s, indent + " ", v.cmd_vel);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace message_operations
|
||||
} // namespace ros
|
||||
|
||||
#endif // DETECT_TARGETS_MESSAGE_CONTROL_H
|
||||
|
|
@ -5,5 +5,7 @@
|
|||
"COMPONENT_CENTER"
|
||||
"<COMPONENT_CENTERS>"
|
||||
"COMPONENT_CENTERS"
|
||||
"<CONTROL>"
|
||||
"CONTROL"
|
||||
))
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,10 @@
|
|||
(cl:in-package detect_targets-msg)
|
||||
(cl:export '(LABEL-VAL
|
||||
LABEL
|
||||
NB_VERTEX-VAL
|
||||
NB_VERTEX
|
||||
X-VAL
|
||||
X
|
||||
Y-VAL
|
||||
Y
|
||||
))
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
(cl:in-package detect_targets-msg)
|
||||
(cl:export '(TARGET-VAL
|
||||
TARGET
|
||||
ERROR-VAL
|
||||
ERROR
|
||||
DERROR-VAL
|
||||
DERROR
|
||||
CMD_VEL-VAL
|
||||
CMD_VEL
|
||||
))
|
||||
|
|
@ -0,0 +1,176 @@
|
|||
; Auto-generated. Do not edit!
|
||||
|
||||
|
||||
(cl:in-package detect_targets-msg)
|
||||
|
||||
|
||||
;//! \htmlinclude component_center.msg.html
|
||||
|
||||
(cl:defclass <component_center> (roslisp-msg-protocol:ros-message)
|
||||
((label
|
||||
:reader label
|
||||
:initarg :label
|
||||
:type cl:integer
|
||||
:initform 0)
|
||||
(nb_vertex
|
||||
:reader nb_vertex
|
||||
:initarg :nb_vertex
|
||||
:type cl:integer
|
||||
:initform 0)
|
||||
(x
|
||||
:reader x
|
||||
:initarg :x
|
||||
:type cl:float
|
||||
:initform 0.0)
|
||||
(y
|
||||
:reader y
|
||||
:initarg :y
|
||||
:type cl:float
|
||||
:initform 0.0))
|
||||
)
|
||||
|
||||
(cl:defclass component_center (<component_center>)
|
||||
())
|
||||
|
||||
(cl:defmethod cl:initialize-instance :after ((m <component_center>) cl:&rest args)
|
||||
(cl:declare (cl:ignorable args))
|
||||
(cl:unless (cl:typep m 'component_center)
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name detect_targets-msg:<component_center> is deprecated: use detect_targets-msg:component_center instead.")))
|
||||
|
||||
(cl:ensure-generic-function 'label-val :lambda-list '(m))
|
||||
(cl:defmethod label-val ((m <component_center>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:label-val is deprecated. Use detect_targets-msg:label instead.")
|
||||
(label m))
|
||||
|
||||
(cl:ensure-generic-function 'nb_vertex-val :lambda-list '(m))
|
||||
(cl:defmethod nb_vertex-val ((m <component_center>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:nb_vertex-val is deprecated. Use detect_targets-msg:nb_vertex instead.")
|
||||
(nb_vertex m))
|
||||
|
||||
(cl:ensure-generic-function 'x-val :lambda-list '(m))
|
||||
(cl:defmethod x-val ((m <component_center>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:x-val is deprecated. Use detect_targets-msg:x instead.")
|
||||
(x m))
|
||||
|
||||
(cl:ensure-generic-function 'y-val :lambda-list '(m))
|
||||
(cl:defmethod y-val ((m <component_center>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:y-val is deprecated. Use detect_targets-msg:y instead.")
|
||||
(y m))
|
||||
(cl:defmethod roslisp-msg-protocol:serialize ((msg <component_center>) ostream)
|
||||
"Serializes a message object of type '<component_center>"
|
||||
(cl:let* ((signed (cl:slot-value msg 'label)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
|
||||
)
|
||||
(cl:let* ((signed (cl:slot-value msg 'nb_vertex)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
|
||||
)
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'x))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'y))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
)
|
||||
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <component_center>) istream)
|
||||
"Deserializes a message object of type '<component_center>"
|
||||
(cl:let ((unsigned 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'label) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
|
||||
(cl:let ((unsigned 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'nb_vertex) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'x) (roslisp-utils:decode-double-float-bits bits)))
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'y) (roslisp-utils:decode-double-float-bits bits)))
|
||||
msg
|
||||
)
|
||||
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<component_center>)))
|
||||
"Returns string type for a message object of type '<component_center>"
|
||||
"detect_targets/component_center")
|
||||
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'component_center)))
|
||||
"Returns string type for a message object of type 'component_center"
|
||||
"detect_targets/component_center")
|
||||
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<component_center>)))
|
||||
"Returns md5sum for a message object of type '<component_center>"
|
||||
"da1879b15a6566f498d1395c2d529084")
|
||||
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'component_center)))
|
||||
"Returns md5sum for a message object of type 'component_center"
|
||||
"da1879b15a6566f498d1395c2d529084")
|
||||
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<component_center>)))
|
||||
"Returns full string definition for message of type '<component_center>"
|
||||
(cl:format cl:nil "int64 label~%int64 nb_vertex~%float64 x~%float64 y~%~%~%"))
|
||||
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'component_center)))
|
||||
"Returns full string definition for message of type 'component_center"
|
||||
(cl:format cl:nil "int64 label~%int64 nb_vertex~%float64 x~%float64 y~%~%~%"))
|
||||
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <component_center>))
|
||||
(cl:+ 0
|
||||
8
|
||||
8
|
||||
8
|
||||
8
|
||||
))
|
||||
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <component_center>))
|
||||
"Converts a ROS message object to a list"
|
||||
(cl:list 'component_center
|
||||
(cl:cons ':label (label msg))
|
||||
(cl:cons ':nb_vertex (nb_vertex msg))
|
||||
(cl:cons ':x (x msg))
|
||||
(cl:cons ':y (y msg))
|
||||
))
|
||||
|
|
@ -0,0 +1,174 @@
|
|||
; Auto-generated. Do not edit!
|
||||
|
||||
|
||||
(cl:in-package detect_targets-msg)
|
||||
|
||||
|
||||
;//! \htmlinclude control.msg.html
|
||||
|
||||
(cl:defclass <control> (roslisp-msg-protocol:ros-message)
|
||||
((target
|
||||
:reader target
|
||||
:initarg :target
|
||||
:type cl:float
|
||||
:initform 0.0)
|
||||
(error
|
||||
:reader error
|
||||
:initarg :error
|
||||
:type cl:float
|
||||
:initform 0.0)
|
||||
(derror
|
||||
:reader derror
|
||||
:initarg :derror
|
||||
:type cl:float
|
||||
:initform 0.0)
|
||||
(cmd_vel
|
||||
:reader cmd_vel
|
||||
:initarg :cmd_vel
|
||||
:type cl:float
|
||||
:initform 0.0))
|
||||
)
|
||||
|
||||
(cl:defclass control (<control>)
|
||||
())
|
||||
|
||||
(cl:defmethod cl:initialize-instance :after ((m <control>) cl:&rest args)
|
||||
(cl:declare (cl:ignorable args))
|
||||
(cl:unless (cl:typep m 'control)
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name detect_targets-msg:<control> is deprecated: use detect_targets-msg:control instead.")))
|
||||
|
||||
(cl:ensure-generic-function 'target-val :lambda-list '(m))
|
||||
(cl:defmethod target-val ((m <control>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:target-val is deprecated. Use detect_targets-msg:target instead.")
|
||||
(target m))
|
||||
|
||||
(cl:ensure-generic-function 'error-val :lambda-list '(m))
|
||||
(cl:defmethod error-val ((m <control>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:error-val is deprecated. Use detect_targets-msg:error instead.")
|
||||
(error m))
|
||||
|
||||
(cl:ensure-generic-function 'derror-val :lambda-list '(m))
|
||||
(cl:defmethod derror-val ((m <control>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:derror-val is deprecated. Use detect_targets-msg:derror instead.")
|
||||
(derror m))
|
||||
|
||||
(cl:ensure-generic-function 'cmd_vel-val :lambda-list '(m))
|
||||
(cl:defmethod cmd_vel-val ((m <control>))
|
||||
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:cmd_vel-val is deprecated. Use detect_targets-msg:cmd_vel instead.")
|
||||
(cmd_vel m))
|
||||
(cl:defmethod roslisp-msg-protocol:serialize ((msg <control>) ostream)
|
||||
"Serializes a message object of type '<control>"
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'target))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'error))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'derror))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'cmd_vel))))
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
|
||||
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
|
||||
)
|
||||
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <control>) istream)
|
||||
"Deserializes a message object of type '<control>"
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'target) (roslisp-utils:decode-double-float-bits bits)))
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'error) (roslisp-utils:decode-double-float-bits bits)))
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'derror) (roslisp-utils:decode-double-float-bits bits)))
|
||||
(cl:let ((bits 0))
|
||||
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
|
||||
(cl:setf (cl:slot-value msg 'cmd_vel) (roslisp-utils:decode-double-float-bits bits)))
|
||||
msg
|
||||
)
|
||||
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<control>)))
|
||||
"Returns string type for a message object of type '<control>"
|
||||
"detect_targets/control")
|
||||
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'control)))
|
||||
"Returns string type for a message object of type 'control"
|
||||
"detect_targets/control")
|
||||
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<control>)))
|
||||
"Returns md5sum for a message object of type '<control>"
|
||||
"6f80b008c55c6a68dec8d378f0b74e50")
|
||||
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'control)))
|
||||
"Returns md5sum for a message object of type 'control"
|
||||
"6f80b008c55c6a68dec8d378f0b74e50")
|
||||
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<control>)))
|
||||
"Returns full string definition for message of type '<control>"
|
||||
(cl:format cl:nil "float64 target~%float64 error~%float64 derror~%float64 cmd_vel~%~%"))
|
||||
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'control)))
|
||||
"Returns full string definition for message of type 'control"
|
||||
(cl:format cl:nil "float64 target~%float64 error~%float64 derror~%float64 cmd_vel~%~%"))
|
||||
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <control>))
|
||||
(cl:+ 0
|
||||
8
|
||||
8
|
||||
8
|
||||
8
|
||||
))
|
||||
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <control>))
|
||||
"Converts a ROS message object to a list"
|
||||
(cl:list 'control
|
||||
(cl:cons ':target (target msg))
|
||||
(cl:cons ':error (error msg))
|
||||
(cl:cons ':derror (derror msg))
|
||||
(cl:cons ':cmd_vel (cmd_vel msg))
|
||||
))
|
||||
|
|
@ -8,4 +8,6 @@
|
|||
(:file "_package_component_center" :depends-on ("_package"))
|
||||
(:file "component_centers" :depends-on ("_package_component_centers"))
|
||||
(:file "_package_component_centers" :depends-on ("_package"))
|
||||
(:file "control" :depends-on ("_package_control"))
|
||||
(:file "_package_control" :depends-on ("_package"))
|
||||
))
|
||||
|
|
@ -1,2 +1,2 @@
|
|||
set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
|
||||
set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg")
|
||||
set(detect_targets_SERVICE_FILES "")
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
\subsubsection usage Usage
|
||||
\verbatim
|
||||
<node name="detect_targets" pkg="detect_targets" type="detect_targets">
|
||||
<param name="camera_angle" type="double" value="80.0" />
|
||||
<param name="target_width" type="double" value="1.0" />
|
||||
<param name="target_depth" type="double" value="0.2" />
|
||||
<param name="distance_to_target" type="double" value="2.0" />
|
||||
<param name="max_speed" type="double" value="0.3" />
|
||||
<param name="linear_x_Kp" type="double" value="0.01" />
|
||||
<param name="linear_x_Ki" type="double" value="0.01" />
|
||||
<param name="linear_x_Kd" type="double" value="0.01" />
|
||||
<param name="control_linear_x" type="bool" value="True" />
|
||||
<param name="linear_y_Kp" type="double" value="0.01" />
|
||||
<param name="linear_y_Ki" type="double" value="0.01" />
|
||||
<param name="linear_y_Kd" type="double" value="0.01" />
|
||||
<param name="control_linear_y" type="bool" value="True" />
|
||||
<param name="linear_z_Kp" type="double" value="0.1" />
|
||||
<param name="linear_z_Ki" type="double" value="0.1" />
|
||||
<param name="linear_z_Kd" type="double" value="0.1" />
|
||||
<param name="control_linear_z" type="bool" value="True" />
|
||||
<param name="angular_z_Kp" type="double" value="0.01" />
|
||||
<param name="angular_z_Ki" type="double" value="0.01" />
|
||||
<param name="angular_z_Kd" type="double" value="0.01" />
|
||||
<param name="control_angular_z" type="bool" value="True" />
|
||||
</node>
|
||||
\endverbatim
|
||||
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
\subsubsection parameters ROS parameters
|
||||
|
||||
Reads and maintains the following parameters on the ROS server
|
||||
|
||||
- \b "~camera_angle" : \b [double] The angle corresponding to the image width min: 50.0, default: 80.0, max: 180.0
|
||||
- \b "~target_width" : \b [double] the real target width (m) min: 0.01, default: 1.0, max: 1.5
|
||||
- \b "~target_depth" : \b [double] the real target depth (m) min: 0.01, default: 0.2, max: 0.5
|
||||
- \b "~distance_to_target" : \b [double] The required distance to the target (m) min: 1.0, default: 2.0, max: 5.0
|
||||
- \b "~max_speed" : \b [double] the maximal linear speed min: 0.01, default: 0.3, max: 1.0
|
||||
- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_linear_x" : \b [bool] Control distance to target min: False, default: True, max: True
|
||||
- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
|
||||
|
|
@ -0,0 +1,92 @@
|
|||
# Autogenerated param section. Do not hand edit.
|
||||
param {
|
||||
group.0 {
|
||||
name=Dynamically Reconfigurable Parameters
|
||||
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
|
||||
0.name= ~camera_angle
|
||||
0.default= 80.0
|
||||
0.type= double
|
||||
0.desc=The angle corresponding to the image width Range: 50.0 to 180.0
|
||||
1.name= ~target_width
|
||||
1.default= 1.0
|
||||
1.type= double
|
||||
1.desc=the real target width (m) Range: 0.01 to 1.5
|
||||
2.name= ~target_depth
|
||||
2.default= 0.2
|
||||
2.type= double
|
||||
2.desc=the real target depth (m) Range: 0.01 to 0.5
|
||||
3.name= ~distance_to_target
|
||||
3.default= 2.0
|
||||
3.type= double
|
||||
3.desc=The required distance to the target (m) Range: 1.0 to 5.0
|
||||
4.name= ~max_speed
|
||||
4.default= 0.3
|
||||
4.type= double
|
||||
4.desc=the maximal linear speed Range: 0.01 to 1.0
|
||||
5.name= ~linear_x_Kp
|
||||
5.default= 0.01
|
||||
5.type= double
|
||||
5.desc=linear.x controller Kp Range: 0.0 to 1.0
|
||||
6.name= ~linear_x_Ki
|
||||
6.default= 0.01
|
||||
6.type= double
|
||||
6.desc=linear.x controller Ki Range: 0.0 to 1.0
|
||||
7.name= ~linear_x_Kd
|
||||
7.default= 0.01
|
||||
7.type= double
|
||||
7.desc=linear.x controller Kd Range: 0.0 to 1.0
|
||||
8.name= ~control_linear_x
|
||||
8.default= True
|
||||
8.type= bool
|
||||
8.desc=Control distance to target
|
||||
9.name= ~linear_y_Kp
|
||||
9.default= 0.01
|
||||
9.type= double
|
||||
9.desc=linear.y controller Kp Range: 0.0 to 1.0
|
||||
10.name= ~linear_y_Ki
|
||||
10.default= 0.01
|
||||
10.type= double
|
||||
10.desc=linear.y controller Ki Range: 0.0 to 1.0
|
||||
11.name= ~linear_y_Kd
|
||||
11.default= 0.01
|
||||
11.type= double
|
||||
11.desc=linear.y controller Kd Range: 0.0 to 1.0
|
||||
12.name= ~control_linear_y
|
||||
12.default= True
|
||||
12.type= bool
|
||||
12.desc=Controls the facing to target
|
||||
13.name= ~linear_z_Kp
|
||||
13.default= 0.1
|
||||
13.type= double
|
||||
13.desc=linear.z controller Kp Range: 0.0 to 10.0
|
||||
14.name= ~linear_z_Ki
|
||||
14.default= 0.1
|
||||
14.type= double
|
||||
14.desc=linear.z controller Ki Range: 0.0 to 10.0
|
||||
15.name= ~linear_z_Kd
|
||||
15.default= 0.1
|
||||
15.type= double
|
||||
15.desc=linear.z controller Kd Range: 0.0 to 10.0
|
||||
16.name= ~control_linear_z
|
||||
16.default= True
|
||||
16.type= bool
|
||||
16.desc=Controls the facing to target
|
||||
17.name= ~angular_z_Kp
|
||||
17.default= 0.01
|
||||
17.type= double
|
||||
17.desc=angular.z controller Kp Range: 0.0 to 1.0
|
||||
18.name= ~angular_z_Ki
|
||||
18.default= 0.01
|
||||
18.type= double
|
||||
18.desc=angular.z controller Ki Range: 0.0 to 1.0
|
||||
19.name= ~angular_z_Kd
|
||||
19.default= 0.01
|
||||
19.type= double
|
||||
19.desc=angular.z controller Kd Range: 0.0 to 1.0
|
||||
20.name= ~control_angular_z
|
||||
20.default= True
|
||||
20.type= bool
|
||||
20.desc=Controls the facing to target
|
||||
}
|
||||
}
|
||||
# End of autogenerated section. You may edit below.
|
||||
|
|
@ -3,8 +3,10 @@
|
|||
|
||||
let component_centers = require('./component_centers.js');
|
||||
let component_center = require('./component_center.js');
|
||||
let control = require('./control.js');
|
||||
|
||||
module.exports = {
|
||||
component_centers: component_centers,
|
||||
component_center: component_center,
|
||||
control: control,
|
||||
};
|
||||
|
|
|
|||
|
|
@ -0,0 +1,145 @@
|
|||
// Auto-generated. Do not edit!
|
||||
|
||||
// (in-package detect_targets.msg)
|
||||
|
||||
|
||||
"use strict";
|
||||
|
||||
const _serializer = _ros_msg_utils.Serialize;
|
||||
const _arraySerializer = _serializer.Array;
|
||||
const _deserializer = _ros_msg_utils.Deserialize;
|
||||
const _arrayDeserializer = _deserializer.Array;
|
||||
const _finder = _ros_msg_utils.Find;
|
||||
const _getByteLength = _ros_msg_utils.getByteLength;
|
||||
|
||||
//-----------------------------------------------------------
|
||||
|
||||
class component_center {
|
||||
constructor(initObj={}) {
|
||||
if (initObj === null) {
|
||||
// initObj === null is a special case for deserialization where we don't initialize fields
|
||||
this.label = null;
|
||||
this.nb_vertex = null;
|
||||
this.x = null;
|
||||
this.y = null;
|
||||
}
|
||||
else {
|
||||
if (initObj.hasOwnProperty('label')) {
|
||||
this.label = initObj.label
|
||||
}
|
||||
else {
|
||||
this.label = 0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('nb_vertex')) {
|
||||
this.nb_vertex = initObj.nb_vertex
|
||||
}
|
||||
else {
|
||||
this.nb_vertex = 0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('x')) {
|
||||
this.x = initObj.x
|
||||
}
|
||||
else {
|
||||
this.x = 0.0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('y')) {
|
||||
this.y = initObj.y
|
||||
}
|
||||
else {
|
||||
this.y = 0.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static serialize(obj, buffer, bufferOffset) {
|
||||
// Serializes a message object of type component_center
|
||||
// Serialize message field [label]
|
||||
bufferOffset = _serializer.int64(obj.label, buffer, bufferOffset);
|
||||
// Serialize message field [nb_vertex]
|
||||
bufferOffset = _serializer.int64(obj.nb_vertex, buffer, bufferOffset);
|
||||
// Serialize message field [x]
|
||||
bufferOffset = _serializer.float64(obj.x, buffer, bufferOffset);
|
||||
// Serialize message field [y]
|
||||
bufferOffset = _serializer.float64(obj.y, buffer, bufferOffset);
|
||||
return bufferOffset;
|
||||
}
|
||||
|
||||
static deserialize(buffer, bufferOffset=[0]) {
|
||||
//deserializes a message object of type component_center
|
||||
let len;
|
||||
let data = new component_center(null);
|
||||
// Deserialize message field [label]
|
||||
data.label = _deserializer.int64(buffer, bufferOffset);
|
||||
// Deserialize message field [nb_vertex]
|
||||
data.nb_vertex = _deserializer.int64(buffer, bufferOffset);
|
||||
// Deserialize message field [x]
|
||||
data.x = _deserializer.float64(buffer, bufferOffset);
|
||||
// Deserialize message field [y]
|
||||
data.y = _deserializer.float64(buffer, bufferOffset);
|
||||
return data;
|
||||
}
|
||||
|
||||
static getMessageSize(object) {
|
||||
return 32;
|
||||
}
|
||||
|
||||
static datatype() {
|
||||
// Returns string type for a message object
|
||||
return 'detect_targets/component_center';
|
||||
}
|
||||
|
||||
static md5sum() {
|
||||
//Returns md5sum for a message object
|
||||
return 'da1879b15a6566f498d1395c2d529084';
|
||||
}
|
||||
|
||||
static messageDefinition() {
|
||||
// Returns full string definition for message
|
||||
return `
|
||||
int64 label
|
||||
int64 nb_vertex
|
||||
float64 x
|
||||
float64 y
|
||||
|
||||
`;
|
||||
}
|
||||
|
||||
static Resolve(msg) {
|
||||
// deep-construct a valid message object instance of whatever was passed in
|
||||
if (typeof msg !== 'object' || msg === null) {
|
||||
msg = {};
|
||||
}
|
||||
const resolved = new component_center(null);
|
||||
if (msg.label !== undefined) {
|
||||
resolved.label = msg.label;
|
||||
}
|
||||
else {
|
||||
resolved.label = 0
|
||||
}
|
||||
|
||||
if (msg.nb_vertex !== undefined) {
|
||||
resolved.nb_vertex = msg.nb_vertex;
|
||||
}
|
||||
else {
|
||||
resolved.nb_vertex = 0
|
||||
}
|
||||
|
||||
if (msg.x !== undefined) {
|
||||
resolved.x = msg.x;
|
||||
}
|
||||
else {
|
||||
resolved.x = 0.0
|
||||
}
|
||||
|
||||
if (msg.y !== undefined) {
|
||||
resolved.y = msg.y;
|
||||
}
|
||||
else {
|
||||
resolved.y = 0.0
|
||||
}
|
||||
|
||||
return resolved;
|
||||
}
|
||||
};
|
||||
|
||||
module.exports = component_center;
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
// Auto-generated. Do not edit!
|
||||
|
||||
// (in-package detect_targets.msg)
|
||||
|
||||
|
||||
"use strict";
|
||||
|
||||
const _serializer = _ros_msg_utils.Serialize;
|
||||
const _arraySerializer = _serializer.Array;
|
||||
const _deserializer = _ros_msg_utils.Deserialize;
|
||||
const _arrayDeserializer = _deserializer.Array;
|
||||
const _finder = _ros_msg_utils.Find;
|
||||
const _getByteLength = _ros_msg_utils.getByteLength;
|
||||
|
||||
//-----------------------------------------------------------
|
||||
|
||||
class control {
|
||||
constructor(initObj={}) {
|
||||
if (initObj === null) {
|
||||
// initObj === null is a special case for deserialization where we don't initialize fields
|
||||
this.target = null;
|
||||
this.error = null;
|
||||
this.derror = null;
|
||||
this.cmd_vel = null;
|
||||
}
|
||||
else {
|
||||
if (initObj.hasOwnProperty('target')) {
|
||||
this.target = initObj.target
|
||||
}
|
||||
else {
|
||||
this.target = 0.0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('error')) {
|
||||
this.error = initObj.error
|
||||
}
|
||||
else {
|
||||
this.error = 0.0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('derror')) {
|
||||
this.derror = initObj.derror
|
||||
}
|
||||
else {
|
||||
this.derror = 0.0;
|
||||
}
|
||||
if (initObj.hasOwnProperty('cmd_vel')) {
|
||||
this.cmd_vel = initObj.cmd_vel
|
||||
}
|
||||
else {
|
||||
this.cmd_vel = 0.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static serialize(obj, buffer, bufferOffset) {
|
||||
// Serializes a message object of type control
|
||||
// Serialize message field [target]
|
||||
bufferOffset = _serializer.float64(obj.target, buffer, bufferOffset);
|
||||
// Serialize message field [error]
|
||||
bufferOffset = _serializer.float64(obj.error, buffer, bufferOffset);
|
||||
// Serialize message field [derror]
|
||||
bufferOffset = _serializer.float64(obj.derror, buffer, bufferOffset);
|
||||
// Serialize message field [cmd_vel]
|
||||
bufferOffset = _serializer.float64(obj.cmd_vel, buffer, bufferOffset);
|
||||
return bufferOffset;
|
||||
}
|
||||
|
||||
static deserialize(buffer, bufferOffset=[0]) {
|
||||
//deserializes a message object of type control
|
||||
let len;
|
||||
let data = new control(null);
|
||||
// Deserialize message field [target]
|
||||
data.target = _deserializer.float64(buffer, bufferOffset);
|
||||
// Deserialize message field [error]
|
||||
data.error = _deserializer.float64(buffer, bufferOffset);
|
||||
// Deserialize message field [derror]
|
||||
data.derror = _deserializer.float64(buffer, bufferOffset);
|
||||
// Deserialize message field [cmd_vel]
|
||||
data.cmd_vel = _deserializer.float64(buffer, bufferOffset);
|
||||
return data;
|
||||
}
|
||||
|
||||
static getMessageSize(object) {
|
||||
return 32;
|
||||
}
|
||||
|
||||
static datatype() {
|
||||
// Returns string type for a message object
|
||||
return 'detect_targets/control';
|
||||
}
|
||||
|
||||
static md5sum() {
|
||||
//Returns md5sum for a message object
|
||||
return '6f80b008c55c6a68dec8d378f0b74e50';
|
||||
}
|
||||
|
||||
static messageDefinition() {
|
||||
// Returns full string definition for message
|
||||
return `
|
||||
float64 target
|
||||
float64 error
|
||||
float64 derror
|
||||
float64 cmd_vel
|
||||
`;
|
||||
}
|
||||
|
||||
static Resolve(msg) {
|
||||
// deep-construct a valid message object instance of whatever was passed in
|
||||
if (typeof msg !== 'object' || msg === null) {
|
||||
msg = {};
|
||||
}
|
||||
const resolved = new control(null);
|
||||
if (msg.target !== undefined) {
|
||||
resolved.target = msg.target;
|
||||
}
|
||||
else {
|
||||
resolved.target = 0.0
|
||||
}
|
||||
|
||||
if (msg.error !== undefined) {
|
||||
resolved.error = msg.error;
|
||||
}
|
||||
else {
|
||||
resolved.error = 0.0
|
||||
}
|
||||
|
||||
if (msg.derror !== undefined) {
|
||||
resolved.derror = msg.derror;
|
||||
}
|
||||
else {
|
||||
resolved.derror = 0.0
|
||||
}
|
||||
|
||||
if (msg.cmd_vel !== undefined) {
|
||||
resolved.cmd_vel = msg.cmd_vel;
|
||||
}
|
||||
else {
|
||||
resolved.cmd_vel = 0.0
|
||||
}
|
||||
|
||||
return resolved;
|
||||
}
|
||||
};
|
||||
|
||||
module.exports = control;
|
||||
|
|
@ -0,0 +1,139 @@
|
|||
;; Auto-generated. Do not edit!
|
||||
|
||||
|
||||
(when (boundp 'detect_targets::component_center)
|
||||
(if (not (find-package "DETECT_TARGETS"))
|
||||
(make-package "DETECT_TARGETS"))
|
||||
(shadow 'component_center (find-package "DETECT_TARGETS")))
|
||||
(unless (find-package "DETECT_TARGETS::COMPONENT_CENTER")
|
||||
(make-package "DETECT_TARGETS::COMPONENT_CENTER"))
|
||||
|
||||
(in-package "ROS")
|
||||
;;//! \htmlinclude component_center.msg.html
|
||||
|
||||
|
||||
(defclass detect_targets::component_center
|
||||
:super ros::object
|
||||
:slots (_label _nb_vertex _x _y ))
|
||||
|
||||
(defmethod detect_targets::component_center
|
||||
(:init
|
||||
(&key
|
||||
((:label __label) 0)
|
||||
((:nb_vertex __nb_vertex) 0)
|
||||
((:x __x) 0.0)
|
||||
((:y __y) 0.0)
|
||||
)
|
||||
(send-super :init)
|
||||
(setq _label (round __label))
|
||||
(setq _nb_vertex (round __nb_vertex))
|
||||
(setq _x (float __x))
|
||||
(setq _y (float __y))
|
||||
self)
|
||||
(:label
|
||||
(&optional __label)
|
||||
(if __label (setq _label __label)) _label)
|
||||
(:nb_vertex
|
||||
(&optional __nb_vertex)
|
||||
(if __nb_vertex (setq _nb_vertex __nb_vertex)) _nb_vertex)
|
||||
(:x
|
||||
(&optional __x)
|
||||
(if __x (setq _x __x)) _x)
|
||||
(:y
|
||||
(&optional __y)
|
||||
(if __y (setq _y __y)) _y)
|
||||
(:serialization-length
|
||||
()
|
||||
(+
|
||||
;; int64 _label
|
||||
8
|
||||
;; int64 _nb_vertex
|
||||
8
|
||||
;; float64 _x
|
||||
8
|
||||
;; float64 _y
|
||||
8
|
||||
))
|
||||
(:serialize
|
||||
(&optional strm)
|
||||
(let ((s (if strm strm
|
||||
(make-string-output-stream (send self :serialization-length)))))
|
||||
;; int64 _label
|
||||
#+(or :alpha :irix6 :x86_64)
|
||||
(progn (sys::poke _label (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
|
||||
#-(or :alpha :irix6 :x86_64)
|
||||
(cond ((and (class _label) (= (length (_label . bv)) 2)) ;; bignum
|
||||
(write-long (ash (elt (_label . bv) 0) 0) s)
|
||||
(write-long (ash (elt (_label . bv) 1) -1) s))
|
||||
((and (class _label) (= (length (_label . bv)) 1)) ;; big1
|
||||
(write-long (elt (_label . bv) 0) s)
|
||||
(write-long (if (>= _label 0) 0 #xffffffff) s))
|
||||
(t ;; integer
|
||||
(write-long _label s)(write-long (if (>= _label 0) 0 #xffffffff) s)))
|
||||
;; int64 _nb_vertex
|
||||
#+(or :alpha :irix6 :x86_64)
|
||||
(progn (sys::poke _nb_vertex (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
|
||||
#-(or :alpha :irix6 :x86_64)
|
||||
(cond ((and (class _nb_vertex) (= (length (_nb_vertex . bv)) 2)) ;; bignum
|
||||
(write-long (ash (elt (_nb_vertex . bv) 0) 0) s)
|
||||
(write-long (ash (elt (_nb_vertex . bv) 1) -1) s))
|
||||
((and (class _nb_vertex) (= (length (_nb_vertex . bv)) 1)) ;; big1
|
||||
(write-long (elt (_nb_vertex . bv) 0) s)
|
||||
(write-long (if (>= _nb_vertex 0) 0 #xffffffff) s))
|
||||
(t ;; integer
|
||||
(write-long _nb_vertex s)(write-long (if (>= _nb_vertex 0) 0 #xffffffff) s)))
|
||||
;; float64 _x
|
||||
(sys::poke _x (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;; float64 _y
|
||||
(sys::poke _y (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;;
|
||||
(if (null strm) (get-output-stream-string s))))
|
||||
(:deserialize
|
||||
(buf &optional (ptr- 0))
|
||||
;; int64 _label
|
||||
#+(or :alpha :irix6 :x86_64)
|
||||
(setf _label (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
|
||||
#-(or :alpha :irix6 :x86_64)
|
||||
(setf _label (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
|
||||
(b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
|
||||
(cond ((= b1 -1) b0)
|
||||
((and (= b1 0)
|
||||
(<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
|
||||
b0)
|
||||
((= b1 0) (make-instance bignum :size 1 :bv (integer-vector b0)))
|
||||
(t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
|
||||
;; int64 _nb_vertex
|
||||
#+(or :alpha :irix6 :x86_64)
|
||||
(setf _nb_vertex (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
|
||||
#-(or :alpha :irix6 :x86_64)
|
||||
(setf _nb_vertex (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
|
||||
(b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
|
||||
(cond ((= b1 -1) b0)
|
||||
((and (= b1 0)
|
||||
(<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
|
||||
b0)
|
||||
((= b1 0) (make-instance bignum :size 1 :bv (integer-vector b0)))
|
||||
(t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
|
||||
;; float64 _x
|
||||
(setq _x (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;; float64 _y
|
||||
(setq _y (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;;
|
||||
self)
|
||||
)
|
||||
|
||||
(setf (get detect_targets::component_center :md5sum-) "da1879b15a6566f498d1395c2d529084")
|
||||
(setf (get detect_targets::component_center :datatype-) "detect_targets/component_center")
|
||||
(setf (get detect_targets::component_center :definition-)
|
||||
"int64 label
|
||||
int64 nb_vertex
|
||||
float64 x
|
||||
float64 y
|
||||
|
||||
")
|
||||
|
||||
|
||||
|
||||
(provide :detect_targets/component_center "da1879b15a6566f498d1395c2d529084")
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,98 @@
|
|||
;; Auto-generated. Do not edit!
|
||||
|
||||
|
||||
(when (boundp 'detect_targets::control)
|
||||
(if (not (find-package "DETECT_TARGETS"))
|
||||
(make-package "DETECT_TARGETS"))
|
||||
(shadow 'control (find-package "DETECT_TARGETS")))
|
||||
(unless (find-package "DETECT_TARGETS::CONTROL")
|
||||
(make-package "DETECT_TARGETS::CONTROL"))
|
||||
|
||||
(in-package "ROS")
|
||||
;;//! \htmlinclude control.msg.html
|
||||
|
||||
|
||||
(defclass detect_targets::control
|
||||
:super ros::object
|
||||
:slots (_target _error _derror _cmd_vel ))
|
||||
|
||||
(defmethod detect_targets::control
|
||||
(:init
|
||||
(&key
|
||||
((:target __target) 0.0)
|
||||
((:error __error) 0.0)
|
||||
((:derror __derror) 0.0)
|
||||
((:cmd_vel __cmd_vel) 0.0)
|
||||
)
|
||||
(send-super :init)
|
||||
(setq _target (float __target))
|
||||
(setq _error (float __error))
|
||||
(setq _derror (float __derror))
|
||||
(setq _cmd_vel (float __cmd_vel))
|
||||
self)
|
||||
(:target
|
||||
(&optional __target)
|
||||
(if __target (setq _target __target)) _target)
|
||||
(:error
|
||||
(&optional __error)
|
||||
(if __error (setq _error __error)) _error)
|
||||
(:derror
|
||||
(&optional __derror)
|
||||
(if __derror (setq _derror __derror)) _derror)
|
||||
(:cmd_vel
|
||||
(&optional __cmd_vel)
|
||||
(if __cmd_vel (setq _cmd_vel __cmd_vel)) _cmd_vel)
|
||||
(:serialization-length
|
||||
()
|
||||
(+
|
||||
;; float64 _target
|
||||
8
|
||||
;; float64 _error
|
||||
8
|
||||
;; float64 _derror
|
||||
8
|
||||
;; float64 _cmd_vel
|
||||
8
|
||||
))
|
||||
(:serialize
|
||||
(&optional strm)
|
||||
(let ((s (if strm strm
|
||||
(make-string-output-stream (send self :serialization-length)))))
|
||||
;; float64 _target
|
||||
(sys::poke _target (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;; float64 _error
|
||||
(sys::poke _error (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;; float64 _derror
|
||||
(sys::poke _derror (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;; float64 _cmd_vel
|
||||
(sys::poke _cmd_vel (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
|
||||
;;
|
||||
(if (null strm) (get-output-stream-string s))))
|
||||
(:deserialize
|
||||
(buf &optional (ptr- 0))
|
||||
;; float64 _target
|
||||
(setq _target (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;; float64 _error
|
||||
(setq _error (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;; float64 _derror
|
||||
(setq _derror (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;; float64 _cmd_vel
|
||||
(setq _cmd_vel (sys::peek buf ptr- :double)) (incf ptr- 8)
|
||||
;;
|
||||
self)
|
||||
)
|
||||
|
||||
(setf (get detect_targets::control :md5sum-) "6f80b008c55c6a68dec8d378f0b74e50")
|
||||
(setf (get detect_targets::control :datatype-) "detect_targets/control")
|
||||
(setf (get detect_targets::control :definition-)
|
||||
"float64 target
|
||||
float64 error
|
||||
float64 derror
|
||||
float64 cmd_vel
|
||||
")
|
||||
|
||||
|
||||
|
||||
(provide :detect_targets/control "6f80b008c55c6a68dec8d378f0b74e50")
|
||||
|
||||
|
||||
|
|
@ -523,9 +523,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Kp = 2.0;
|
||||
__max__.linear_x_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Kp = 0.1;
|
||||
__default__.linear_x_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -533,9 +533,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Ki = 2.0;
|
||||
__max__.linear_x_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Ki = 0.1;
|
||||
__default__.linear_x_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -543,9 +543,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_x_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_x_Kd = 2.0;
|
||||
__max__.linear_x_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_x_Kd = 0.1;
|
||||
__default__.linear_x_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -563,9 +563,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Kp = 2.0;
|
||||
__max__.linear_y_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Kp = 0.1;
|
||||
__default__.linear_y_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -573,9 +573,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Ki = 2.0;
|
||||
__max__.linear_y_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Ki = 0.1;
|
||||
__default__.linear_y_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -583,9 +583,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_y_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_y_Kd = 2.0;
|
||||
__max__.linear_y_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_y_Kd = 0.1;
|
||||
__default__.linear_y_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -603,7 +603,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Kp = 2.0;
|
||||
__max__.linear_z_Kp = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Kp = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -613,7 +613,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Ki = 2.0;
|
||||
__max__.linear_z_Ki = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Ki = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -623,7 +623,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.linear_z_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.linear_z_Kd = 2.0;
|
||||
__max__.linear_z_Kd = 10.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.linear_z_Kd = 0.1;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -643,9 +643,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Kp = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Kp = 2.0;
|
||||
__max__.angular_z_Kp = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Kp = 0.1;
|
||||
__default__.angular_z_Kp = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -653,9 +653,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Ki = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Ki = 2.0;
|
||||
__max__.angular_z_Ki = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Ki = 0.1;
|
||||
__default__.angular_z_Ki = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
@ -663,9 +663,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
|
|||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__min__.angular_z_Kd = 0.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__max__.angular_z_Kd = 2.0;
|
||||
__max__.angular_z_Kd = 1.0;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
__default__.angular_z_Kd = 0.1;
|
||||
__default__.angular_z_Kd = 0.01;
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
|
||||
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||
|
|
|
|||
|
|
@ -6,21 +6,21 @@
|
|||
<param name="target_depth" type="double" value="0.2" />
|
||||
<param name="distance_to_target" type="double" value="2.0" />
|
||||
<param name="max_speed" type="double" value="0.3" />
|
||||
<param name="linear_x_Kp" type="double" value="0.1" />
|
||||
<param name="linear_x_Ki" type="double" value="0.1" />
|
||||
<param name="linear_x_Kd" type="double" value="0.1" />
|
||||
<param name="linear_x_Kp" type="double" value="0.01" />
|
||||
<param name="linear_x_Ki" type="double" value="0.01" />
|
||||
<param name="linear_x_Kd" type="double" value="0.01" />
|
||||
<param name="control_linear_x" type="bool" value="True" />
|
||||
<param name="linear_y_Kp" type="double" value="0.1" />
|
||||
<param name="linear_y_Ki" type="double" value="0.1" />
|
||||
<param name="linear_y_Kd" type="double" value="0.1" />
|
||||
<param name="linear_y_Kp" type="double" value="0.01" />
|
||||
<param name="linear_y_Ki" type="double" value="0.01" />
|
||||
<param name="linear_y_Kd" type="double" value="0.01" />
|
||||
<param name="control_linear_y" type="bool" value="True" />
|
||||
<param name="linear_z_Kp" type="double" value="0.1" />
|
||||
<param name="linear_z_Ki" type="double" value="0.1" />
|
||||
<param name="linear_z_Kd" type="double" value="0.1" />
|
||||
<param name="control_linear_z" type="bool" value="True" />
|
||||
<param name="angular_z_Kp" type="double" value="0.1" />
|
||||
<param name="angular_z_Ki" type="double" value="0.1" />
|
||||
<param name="angular_z_Kd" type="double" value="0.1" />
|
||||
<param name="angular_z_Kp" type="double" value="0.01" />
|
||||
<param name="angular_z_Ki" type="double" value="0.01" />
|
||||
<param name="angular_z_Kd" type="double" value="0.01" />
|
||||
<param name="control_angular_z" type="bool" value="True" />
|
||||
</node>
|
||||
\endverbatim
|
||||
|
|
|
|||
|
|
@ -7,20 +7,20 @@ Reads and maintains the following parameters on the ROS server
|
|||
- \b "~target_depth" : \b [double] the real target depth (m) min: 0.01, default: 0.2, max: 0.5
|
||||
- \b "~distance_to_target" : \b [double] The required distance to the target (m) min: 1.0, default: 2.0, max: 5.0
|
||||
- \b "~max_speed" : \b [double] the maximal linear speed min: 0.01, default: 0.3, max: 1.0
|
||||
- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_linear_x" : \b [bool] Control distance to target min: False, default: True, max: True
|
||||
- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
|
||||
- \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.1, max: 2.0
|
||||
- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
|
||||
- \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
|
||||
|
||||
|
|
|
|||
|
|
@ -24,33 +24,33 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
|
|||
4.type= double
|
||||
4.desc=the maximal linear speed Range: 0.01 to 1.0
|
||||
5.name= ~linear_x_Kp
|
||||
5.default= 0.1
|
||||
5.default= 0.01
|
||||
5.type= double
|
||||
5.desc=linear.x controller Kp Range: 0.0 to 2.0
|
||||
5.desc=linear.x controller Kp Range: 0.0 to 1.0
|
||||
6.name= ~linear_x_Ki
|
||||
6.default= 0.1
|
||||
6.default= 0.01
|
||||
6.type= double
|
||||
6.desc=linear.x controller Ki Range: 0.0 to 2.0
|
||||
6.desc=linear.x controller Ki Range: 0.0 to 1.0
|
||||
7.name= ~linear_x_Kd
|
||||
7.default= 0.1
|
||||
7.default= 0.01
|
||||
7.type= double
|
||||
7.desc=linear.x controller Kd Range: 0.0 to 2.0
|
||||
7.desc=linear.x controller Kd Range: 0.0 to 1.0
|
||||
8.name= ~control_linear_x
|
||||
8.default= True
|
||||
8.type= bool
|
||||
8.desc=Control distance to target
|
||||
9.name= ~linear_y_Kp
|
||||
9.default= 0.1
|
||||
9.default= 0.01
|
||||
9.type= double
|
||||
9.desc=linear.y controller Kp Range: 0.0 to 2.0
|
||||
9.desc=linear.y controller Kp Range: 0.0 to 1.0
|
||||
10.name= ~linear_y_Ki
|
||||
10.default= 0.1
|
||||
10.default= 0.01
|
||||
10.type= double
|
||||
10.desc=linear.y controller Ki Range: 0.0 to 2.0
|
||||
10.desc=linear.y controller Ki Range: 0.0 to 1.0
|
||||
11.name= ~linear_y_Kd
|
||||
11.default= 0.1
|
||||
11.default= 0.01
|
||||
11.type= double
|
||||
11.desc=linear.y controller Kd Range: 0.0 to 2.0
|
||||
11.desc=linear.y controller Kd Range: 0.0 to 1.0
|
||||
12.name= ~control_linear_y
|
||||
12.default= True
|
||||
12.type= bool
|
||||
|
|
@ -58,31 +58,31 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
|
|||
13.name= ~linear_z_Kp
|
||||
13.default= 0.1
|
||||
13.type= double
|
||||
13.desc=linear.z controller Kp Range: 0.0 to 2.0
|
||||
13.desc=linear.z controller Kp Range: 0.0 to 10.0
|
||||
14.name= ~linear_z_Ki
|
||||
14.default= 0.1
|
||||
14.type= double
|
||||
14.desc=linear.z controller Ki Range: 0.0 to 2.0
|
||||
14.desc=linear.z controller Ki Range: 0.0 to 10.0
|
||||
15.name= ~linear_z_Kd
|
||||
15.default= 0.1
|
||||
15.type= double
|
||||
15.desc=linear.z controller Kd Range: 0.0 to 2.0
|
||||
15.desc=linear.z controller Kd Range: 0.0 to 10.0
|
||||
16.name= ~control_linear_z
|
||||
16.default= True
|
||||
16.type= bool
|
||||
16.desc=Controls the facing to target
|
||||
17.name= ~angular_z_Kp
|
||||
17.default= 0.1
|
||||
17.default= 0.01
|
||||
17.type= double
|
||||
17.desc=angular.z controller Kp Range: 0.0 to 2.0
|
||||
17.desc=angular.z controller Kp Range: 0.0 to 1.0
|
||||
18.name= ~angular_z_Ki
|
||||
18.default= 0.1
|
||||
18.default= 0.01
|
||||
18.type= double
|
||||
18.desc=angular.z controller Ki Range: 0.0 to 2.0
|
||||
18.desc=angular.z controller Ki Range: 0.0 to 1.0
|
||||
19.name= ~angular_z_Kd
|
||||
19.default= 0.1
|
||||
19.default= 0.01
|
||||
19.type= double
|
||||
19.desc=angular.z controller Kd Range: 0.0 to 2.0
|
||||
19.desc=angular.z controller Kd Range: 0.0 to 1.0
|
||||
20.name= ~control_angular_z
|
||||
20.default= True
|
||||
20.type= bool
|
||||
|
|
|
|||
1
workspace/devel/include/detect_targets/TriangleParamConfig.h
Symbolic link
1
workspace/devel/include/detect_targets/TriangleParamConfig.h
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/TriangleParamConfig.h
|
||||
1
workspace/devel/include/detect_targets/component_center.h
Symbolic link
1
workspace/devel/include/detect_targets/component_center.h
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_center.h
|
||||
1
workspace/devel/include/detect_targets/control.h
Symbolic link
1
workspace/devel/include/detect_targets/control.h
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/control.h
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_component_center.lisp
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_control.lisp
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/component_center.lisp
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/control.lisp
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig-usage.dox
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.dox
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.wikidoc
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/component_center.js
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/control.js
|
||||
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_center.l
|
||||
1
workspace/devel/share/roseus/ros/detect_targets/msg/control.l
Symbolic link
1
workspace/devel/share/roseus/ros/detect_targets/msg/control.l
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/control.l
|
||||
|
|
@ -53,6 +53,8 @@ find_package(catkin REQUIRED COMPONENTS
|
|||
add_message_files(
|
||||
FILES
|
||||
component_centers.msg
|
||||
component_center.msg
|
||||
control.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
|
|
@ -92,6 +94,7 @@ generate_messages(
|
|||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
generate_dynamic_reconfigure_options(
|
||||
cfg/DetectTargets.cfg
|
||||
cfg/triangle_control.cfg
|
||||
)
|
||||
|
||||
###################################
|
||||
|
|
|
|||
37
workspace/src/detect_targets/cfg/triangle_control.cfg
Executable file
37
workspace/src/detect_targets/cfg/triangle_control.cfg
Executable file
|
|
@ -0,0 +1,37 @@
|
|||
#!/usr/bin/env python
|
||||
PACKAGE = "detect_targets"
|
||||
|
||||
from dynamic_reconfigure.parameter_generator_catkin import *
|
||||
|
||||
gen = ParameterGenerator()
|
||||
|
||||
gen.add("camera_angle", double_t, 0, "The angle corresponding to the image width", 80, 50, 180)
|
||||
gen.add("target_width", double_t, 0, "the real target width (m)", 1, 0.01, 1.5)
|
||||
gen.add("target_depth", double_t, 0, "the real target depth (m)", .2, 0.01, 0.5)
|
||||
gen.add("distance_to_target", double_t, 0, "The required distance to the target (m)", 2, 1, 5)
|
||||
gen.add("max_speed", double_t, 0, "the maximal linear speed", .3, .01, 1)
|
||||
|
||||
|
||||
gen.add("linear_x_Kp", double_t, 0, "linear.x controller Kp", .01, 0, 1)
|
||||
gen.add("linear_x_Ki", double_t, 0, "linear.x controller Ki", .01, 0, 1)
|
||||
gen.add("linear_x_Kd", double_t, 0, "linear.x controller Kd", .01, 0, 1)
|
||||
gen.add("control_linear_x", bool_t, 0, "Control distance to target", True)
|
||||
|
||||
gen.add("linear_y_Kp", double_t, 0, "linear.y controller Kp", .01, 0, 1)
|
||||
gen.add("linear_y_Ki", double_t, 0, "linear.y controller Ki", .01, 0, 1)
|
||||
gen.add("linear_y_Kd", double_t, 0, "linear.y controller Kd", .01, 0, 1)
|
||||
gen.add("control_linear_y", bool_t, 0, "Controls the facing to target", True)
|
||||
|
||||
gen.add("linear_z_Kp", double_t, 0, "linear.z controller Kp", .1, 0, 10)
|
||||
gen.add("linear_z_Ki", double_t, 0, "linear.z controller Ki", .1, 0, 10)
|
||||
gen.add("linear_z_Kd", double_t, 0, "linear.z controller Kd", .1, 0, 10)
|
||||
gen.add("control_linear_z", bool_t, 0, "Controls the facing to target", True)
|
||||
|
||||
gen.add("angular_z_Kp", double_t, 0, "angular.z controller Kp", .01, 0, 1)
|
||||
gen.add("angular_z_Ki", double_t, 0, "angular.z controller Ki", .01, 0, 1)
|
||||
gen.add("angular_z_Kd", double_t, 0, "angular.z controller Kd", .01, 0, 1)
|
||||
gen.add("control_angular_z", bool_t, 0, "Controls the facing to target", True)
|
||||
|
||||
|
||||
|
||||
exit(gen.generate(PACKAGE, "detect_targets", "TriangleParam"))
|
||||
|
|
@ -5,7 +5,7 @@
|
|||
<node name="targets" pkg="detect_targets" type="target_publisher.py">
|
||||
</node>
|
||||
|
||||
<node name="controller" pkg="drone_demo" type="triangle_control.py" output="screen">
|
||||
<node name="controller" pkg="detect_targets" type="triangle_control.py" output="screen">
|
||||
<remap from="component_centers" to="targets"/>
|
||||
</node>
|
||||
|
||||
|
|
@ -20,8 +20,6 @@
|
|||
|
||||
|
||||
<node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
|
||||
<node name="view1" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find drone_demo)/params/triangle.rviz"/>
|
||||
|
||||
<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
|
||||
<node name="pid_param" pkg="dynamic_reconfigure" type="dynparam" args="load /controller $(find drone_demo)/params/triangle-control-pid.yaml"/>
|
||||
|
|
|
|||
4
workspace/src/detect_targets/msg/control.msg
Normal file
4
workspace/src/detect_targets/msg/control.msg
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
float64 target
|
||||
float64 error
|
||||
float64 derror
|
||||
float64 cmd_vel
|
||||
|
|
@ -62,7 +62,8 @@ class Publisher:
|
|||
pass
|
||||
|
||||
self.pub.publish(self.centers)
|
||||
self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
|
||||
if self.img_pub.get_num_connections() > 0:
|
||||
self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
|
|
|||
255
workspace/src/detect_targets/scripts/triangle_control.py
Executable file
255
workspace/src/detect_targets/scripts/triangle_control.py
Executable file
|
|
@ -0,0 +1,255 @@
|
|||
#! /usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import math
|
||||
|
||||
import roslib
|
||||
import rospy
|
||||
from geometry_msgs.msg import Twist
|
||||
import tf
|
||||
|
||||
from simple_pid import PID
|
||||
|
||||
import dynamic_reconfigure.server
|
||||
from detect_targets.cfg import TriangleParamConfig
|
||||
from detect_targets.msg import control
|
||||
|
||||
from detect_targets.msg import component_centers
|
||||
|
||||
|
||||
class TriangleControl:
|
||||
|
||||
def on_reconf(self, config, level):
|
||||
|
||||
self.camera_angle = config['camera_angle']*math.pi/360.0 # theta/2
|
||||
self.tan_cam = math.tan(self.camera_angle)
|
||||
|
||||
self.target_width = config['target_width']
|
||||
self.target_depth = config['target_depth']
|
||||
self.target_distance = config['distance_to_target']
|
||||
self.max_speed = config['max_speed']
|
||||
|
||||
#gains are reversed because of the chosen angle direction
|
||||
self.pid_angular_z.Kp = - config['angular_z_Kp']
|
||||
self.pid_angular_z.Ki = - config['angular_z_Ki']
|
||||
self.pid_angular_z.Kd = - config['angular_z_Kd']
|
||||
self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
|
||||
if not config['control_angular_z']:
|
||||
self.pid_angular_z._last_output = 0.0
|
||||
|
||||
self.pid_linear_z.Kp = config['linear_z_Kp']
|
||||
self.pid_linear_z.Ki = config['linear_z_Ki']
|
||||
self.pid_linear_z.Kd = config['linear_z_Kd']
|
||||
self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
|
||||
if not config['control_linear_z']:
|
||||
self.pid_linear_z._last_output = 0.0
|
||||
self.pid_linear_z.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
)
|
||||
self.pid_linear_y.Kp = config['linear_y_Kp']
|
||||
self.pid_linear_y.Ki = config['linear_y_Ki']
|
||||
self.pid_linear_y.Kd = config['linear_y_Kd']
|
||||
self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
|
||||
if not config['control_linear_y']:
|
||||
self.pid_linear_y._last_output = 0.0
|
||||
self.pid_linear_y.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
)
|
||||
|
||||
# X gains are reversed because of the chosen axis
|
||||
self.pid_linear_x.Kp = - config['linear_x_Kp']
|
||||
self.pid_linear_x.Ki = - config['linear_x_Ki']
|
||||
self.pid_linear_x.Kd = - config['linear_x_Kd']
|
||||
self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
|
||||
if not config['control_linear_x']:
|
||||
self.pid_linear_x._last_output = 0.0
|
||||
self.pid_linear_x.output_limits = (
|
||||
-config['max_speed'],
|
||||
config['max_speed']
|
||||
)
|
||||
self.pid_linear_x.setpoint = self.target_distance
|
||||
|
||||
return config
|
||||
|
||||
def clear_controls(self):
|
||||
self.error_angular_z.clear()
|
||||
self.error_linear_z.clear()
|
||||
self.error_linear_y.clear()
|
||||
self.error_linear_x.clear()
|
||||
|
||||
def saturate_twist():
|
||||
if self.twist.linear.x > self.max_speed:
|
||||
self.twist.linear.x = self.max_speed
|
||||
elif self.twist.linear.x < - self.max_speed:
|
||||
self.twist.linear.x = - self.max_speed
|
||||
if self.twist.linear.y > self.max_speed:
|
||||
self.twist.linear.y = self.max_speed
|
||||
elif self.twist.linear.y < - self.max_speed:
|
||||
self.twist.linear.y = - self.max_speed
|
||||
if self.twist.linear.z > self.max_speed:
|
||||
self.twist.linear.z = self.max_speed
|
||||
elif self.twist.linear.z < - self.max_speed:
|
||||
self.twist.linear.z = - self.max_speed
|
||||
|
||||
def on_comp(self, msg):
|
||||
self.twist = Twist()
|
||||
if len(msg.data) > 2:
|
||||
msg.data.sort(key=lambda component: -component.nb_vertex)
|
||||
pts = msg.data[0:3]
|
||||
pts.sort(key=lambda component: -component.y)
|
||||
H = pts[0]
|
||||
L = pts[2]
|
||||
R = pts[1]
|
||||
if pts[1].x < pts[2].x:
|
||||
L = pts[1]
|
||||
R = pts[2]
|
||||
self.triangle(L, H, R)
|
||||
self.twist_pub.publish(self.twist)
|
||||
|
||||
def triangle(self, L, H, R):
|
||||
now = rospy.Time.now()
|
||||
t = (now - self.first_time).to_sec()
|
||||
self.Gx = (L.x + H.x + R.x)*.333333
|
||||
Gy = (L.y + H.y + R.y)*.333333
|
||||
w = R.x - L.x
|
||||
h = H.x - .5 * (R.x + L.x)
|
||||
|
||||
self.alpha = math.atan(h*self.target_width/(1e-5+w*self.target_depth))
|
||||
ca = math.cos(self.alpha)
|
||||
sa = math.sin(self.alpha)
|
||||
# why *.5.... I don't know.
|
||||
self.d = self.target_width*ca/(w*self.tan_cam) * .5
|
||||
self.z = -Gy*self.d*self.tan_cam
|
||||
|
||||
# print('#######')
|
||||
#print('d = {}, z = {}, alpha = {}'.format(self.d, self.z, self.alpha*180/math.pi))
|
||||
#print('w = {}, h = {}, Gy = {}'.format(w, h, Gy))
|
||||
#print('L = {}, l = {}'.format(self.target_width, self.target_depth))
|
||||
|
||||
self.br.sendTransform((self.d * ca, self.d * sa, self.z),
|
||||
tf.transformations.quaternion_from_euler(
|
||||
0, 0, self.alpha + math.pi),
|
||||
now,
|
||||
'drone', 'target')
|
||||
|
||||
self.twist.angular.z = self.pid_angular_z(-self.Gx * self.camera_angle)
|
||||
if self.angular_z_pub.get_num_connections() > 0:
|
||||
self.angular_z_info.target = 0
|
||||
self.angular_z_info.error = 0
|
||||
self.angular_z_info.derror = 0
|
||||
self.angular_z_info.cmd_vel = self.twist.angular.z
|
||||
self.angular_z_pub.publish(self.angular_z_info)
|
||||
|
||||
self.twist.linear.z = self.pid_linear_z(self.z)
|
||||
if self.linear_z_pub.get_num_connections() > 0:
|
||||
self.linear_z_info.target = 0
|
||||
self.linear_z_info.error = self.z
|
||||
self.linear_z_info.derror = 0
|
||||
self.linear_z_info.cmd_vel = self.twist.linear.z
|
||||
self.linear_z_pub.publish(self.linear_z_info)
|
||||
|
||||
self.twist.linear.y = self.pid_linear_y(-self.alpha)
|
||||
if self.linear_y_pub.get_num_connections() > 0:
|
||||
self.linear_y_info.target = 0
|
||||
self.linear_y_info.error = -self.alpha
|
||||
self.linear_y_info.derror = 0
|
||||
self.linear_y_info.cmd_vel = self.twist.linear.y
|
||||
self.linear_y_pub.publish(self.linear_y_info)
|
||||
|
||||
self.twist.linear.x = self.pid_linear_x(self.d)
|
||||
if self.linear_x_pub.get_num_connections() > 0:
|
||||
self.linear_x_info.target = self.pid_linear_x.setpoint
|
||||
self.linear_x_info.error = self.target_distance - self.d
|
||||
self.linear_x_info.derror = 0
|
||||
self.linear_x_info.cmd_vel = self.twist.linear.x
|
||||
self.linear_x_pub.publish(self.linear_x_info)
|
||||
|
||||
def __init__(self):
|
||||
|
||||
self.Gx = 0
|
||||
|
||||
self.alpha = 0
|
||||
self.d = 0
|
||||
self.z = 0
|
||||
|
||||
self.camera_angle = 80*math.pi/180./2.0
|
||||
self.tan_cam = math.tan(self.camera_angle)
|
||||
self.target_width = 1
|
||||
self.target_depth = .2
|
||||
self.target_distance = 2
|
||||
self.max_speed = .3
|
||||
|
||||
self.last_time_angular_z = 0
|
||||
self.last_time_linear_z = 0
|
||||
self.last_time_linear_y = 0
|
||||
self.last_time_linear_x = 0
|
||||
self.first_time = rospy.Time.now()
|
||||
|
||||
self.pid_angular_z = PID(
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
auto_mode=True,
|
||||
sample_time=0.14 # 7 Hz
|
||||
)
|
||||
self.pid_linear_z = PID(
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
auto_mode=True,
|
||||
sample_time=0.14
|
||||
)
|
||||
self.pid_linear_y = PID(
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
auto_mode=True,
|
||||
sample_time=0.14
|
||||
)
|
||||
self.pid_linear_x = PID(
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
auto_mode=True,
|
||||
sample_time=0.14,
|
||||
setpoint=self.target_distance,
|
||||
)
|
||||
|
||||
# Control info
|
||||
self.angular_z_info = control()
|
||||
self.linear_x_info = control()
|
||||
self.linear_y_info = control()
|
||||
self.linear_z_info = control()
|
||||
|
||||
# ROS stuff
|
||||
|
||||
self.twist = Twist()
|
||||
self.twist_pub = rospy.Publisher(
|
||||
'cmd_vel', Twist, queue_size=1)
|
||||
self.angular_z_pub = rospy.Publisher(
|
||||
'angular_z_control', control, queue_size=1)
|
||||
self.linear_z_pub = rospy.Publisher(
|
||||
'linear_z_control', control, queue_size=1)
|
||||
self.linear_y_pub = rospy.Publisher(
|
||||
'linear_y_control', control, queue_size=1)
|
||||
self.linear_x_pub = rospy.Publisher(
|
||||
'linear_x_control', control, queue_size=1)
|
||||
self.comp_sub = rospy.Subscriber(
|
||||
"component_centers", component_centers, self.on_comp, queue_size=1)
|
||||
|
||||
self.config_srv = dynamic_reconfigure.server.Server(
|
||||
TriangleParamConfig, self.on_reconf)
|
||||
|
||||
self.br = tf.TransformBroadcaster()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
print "running"
|
||||
rospy.init_node('triangle_control', anonymous=True)
|
||||
|
||||
print "node created"
|
||||
|
||||
triangle = TriangleControl()
|
||||
rospy.spin()
|
||||
Loading…
Reference in a new issue