rg_services.cpp File Reference

A collection of services for the controller. More...

#include "ros/ros.h"
#include "ros/console.h"
#include "geometry_msgs/Point.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Twist.h"
#include "robot_game/rg_check_srv.h"
#include "robot_game/rg_get_target_srv.h"
#include "robot_game/rg_get_vel_srv.h"
#include <cmath>
#include <cstdlib>
#include <ctime>

Go to the source code of this file.

Macros
#define	TOLERANCE   0.1f
#define	K   (1.f)

Functions
double	compute_eucledian_distance (geometry_msgs::Point P1, geometry_msgs::Point P2)
	Eucledian distance between two points. More...
double	rand_range (double min, double max)
	Generate a random value within a given range. More...
bool	rg_check_target_callback (robot_game::rg_check_srv::Request &initpos, robot_game::rg_check_srv::Response &r)
	Service - check target. More...
bool	rg_get_target_callback (robot_game::rg_get_target_srv::Request &limits, robot_game::rg_get_target_srv::Response &target)
	Service - get a new random target. More...
bool	rg_get_velocity_callback (robot_game::rg_get_vel_srv::Request &initpos, robot_game::rg_get_vel_srv::Response &vel)
	Service - generate a twist command. More...
int	main (int argc, char **argv)
	Ask for services, topics, and initialise the node. More...

Detailed Description

A collection of services for the controller.

Author

Francesco Ganci (S4143910)

Version

1.0

Date

2021-06-25

This file contains the three services the controller needs in order to work:

• get target randomly generate a new target
• check target check if the target is reached or not
• get velocity generate the gelocity for approaching the goal

Copyright

Copyright (c) 2021

Definition in file rg_services.cpp.

Macro Definition Documentation

K

#define K   (1.f)

the speed at which the robot reaches its position.

Definition at line 38 of file rg_services.cpp.

TOLERANCE

#define TOLERANCE   0.1f

minimum distance from the target for considering it reached

Definition at line 35 of file rg_services.cpp.

Function Documentation

compute_eucledian_distance()

double compute_eucledian_distance	(	geometry_msgs::Point	P1,
		geometry_msgs::Point	P2
	)

Eucledian distance between two points.

Parameters

P1	the start point of the vector
P2	the final point of the vector

Returns

double the eucledian distance of (P2-P1)

Definition at line 51 of file rg_services.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Ask for services, topics, and initialise the node.

Definition at line 159 of file rg_services.cpp.

rand_range()

double rand_range	(	double	min,
		double	max
	)

Generate a random value within a given range.

Parameters

min	the minimum number (included)
max	the maximum number (include)

Returns

a random number in [min, max]

Definition at line 64 of file rg_services.cpp.

rg_check_target_callback()

bool rg_check_target_callback	(	robot_game::rg_check_srv::Request &	initpos,
		robot_game::rg_check_srv::Response &	r
	)

Service - check target.

Parameters

initpos	X and Xt
r	is the target reached?

Returns

true if the lenght of (X - Xt) is less than the TOLERANCE

false if the distance is greater than the TOLERANCE

The function simply takes the distance between actual position and target, and compares this with the TOLERACE. If the distance is less than the TOLERANCE, the target is considered to be reached.

Definition at line 88 of file rg_services.cpp.

rg_get_target_callback()

bool rg_get_target_callback	(	robot_game::rg_get_target_srv::Request &	limits,
		robot_game::rg_get_target_srv::Response &	target
	)

Service - get a new random target.

Parameters

limits	bounds within to take the target
target	the respose of the server, the target

Definition at line 104 of file rg_services.cpp.

rg_get_velocity_callback()

bool rg_get_velocity_callback	(	robot_game::rg_get_vel_srv::Request &	initpos,
		robot_game::rg_get_vel_srv::Response &	vel
	)

Service - generate a twist command.

Parameters

initpos	X and Xt
vel	the return of the server, the Twist

Definition at line 131 of file rg_services.cpp.