Asservissement en position fonctionnel.

This commit is contained in:
Hugo LEVY-FALK 2019-03-20 17:38:43 +01:00
parent 7c56e5362a
commit fc217dba5f
94 changed files with 3424 additions and 354 deletions

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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"

View file

@ -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 "")

View file

@ -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 "")

View file

@ -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 "")

View file

@ -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"

View file

@ -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})

View file

@ -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()

View file

@ -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

View file

@ -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

View file

@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 16
CMAKE_PROGRESS_2 = 17
CMAKE_PROGRESS_1 = 27
CMAKE_PROGRESS_2 = 28

View file

@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 18
CMAKE_PROGRESS_2 = 19
CMAKE_PROGRESS_1 = 29
CMAKE_PROGRESS_2 = 30

View file

@ -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)

View file

@ -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)

View file

@ -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"

View file

@ -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"

View file

@ -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__

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@ -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

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@ -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

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@ -5,5 +5,7 @@
"COMPONENT_CENTER"
"<COMPONENT_CENTERS>"
"COMPONENT_CENTERS"
"<CONTROL>"
"CONTROL"
))

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@ -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
))

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@ -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
))

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@ -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))
))

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@ -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))
))

View file

@ -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"))
))

View file

@ -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 "")

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@ -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

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@ -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

View file

@ -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.

View file

@ -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,
};

View file

@ -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;

View file

@ -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;

View file

@ -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")

View file

@ -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")

View file

@ -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"

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@ -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

View file

@ -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

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@ -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

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/TriangleParamConfig.h

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_center.h

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/control.h

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@ -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

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_control.lisp

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/component_center.lisp

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/control.lisp

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig-usage.dox

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.dox

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.wikidoc

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/component_center.js

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/control.js

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_center.l

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@ -0,0 +1 @@
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/control.l

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@ -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
)
###################################

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@ -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"))

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@ -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"/>

View file

@ -0,0 +1,4 @@
float64 target
float64 error
float64 derror
float64 cmd_vel

View file

@ -62,6 +62,7 @@ class Publisher:
pass
self.pub.publish(self.centers)
if self.img_pub.get_num_connections() > 0:
self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))

View 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()