rm or comments useless files

This commit is contained in:
Louis-Guillaume DUBOIS 2015-06-26 20:45:04 +02:00
parent a70483de20
commit 7103ef6277
5 changed files with 2 additions and 323 deletions

View file

@ -1,187 +0,0 @@
// this code doesnt work
// :-(
#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>
#include <limits>
#include <math.h>
#include <assert.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <hand_control/Plan.h>
#include <geometry_msgs/Twist.h>
#include <math.h>
#include <dynamic_reconfigure/server.h>
#include <hand_control/Commander_atanConfig.h>
#include "data.h"
class Run
{
private:
enum FType { f_lin, f_atan, f_undef };
class Function
{
private:
virtual void set_grad(const float& grad) = 0;
protected:
float min, max;
FType type;
public:
Function() : min(0.1f), max(0.8f) {}
virtual float f(const float& arg) = 0;
void set(const float& minimum, const float& maximum, const float& grad)
{
min = minimum;
max = maximum;
set_grad(grad);
}
FType get_type() { return type; }
};
class Atan : public Function
{
private:
static const float demi_pi;
float t;
virtual void set_grad(const float& grad)
{
t = grad*demi_pi/max;
}
public:
Atan() :t(demi_pi) { type = f_atan; }
virtual float f(const float& arg)
{
float out = max * atan(t * arg) / demi_pi;
if (fabs(out) > min)
return out;
else
return 0.;
}
};
class Lin : public Function
{
private:
float t;
virtual void set_grad(const float& grad)
{
t = grad;
}
public:
Lin() { type = f_lin; }
virtual float f(const float& arg)
{
float out = std::min(t * arg, max);
if (fabs(out) > min)
return out;
else
return 0.;
}
};
Data<boost::shared_ptr<Function> > f;
float neutral_z;
float max_curv;
uint64_t min_number;
ros::Publisher pub;
public:
Run(const ros::Publisher& cmd_publisher) :
pub(cmd_publisher) {
f.x = boost::make_shared<Lin>();
f.y = boost::make_shared<Lin>();
f.z = boost::make_shared<Lin>();
f.th = boost::make_shared<Lin>();
}
void callback(const hand_control::Plan::ConstPtr& msg)
{
ROS_INFO("plan received");
Data<float> in, out;
in.x = in.y = in.z = in.th = 0.;
if (msg->curvature < max_curv && msg->number > min_number)
{
if(msg->normal.z > 0)
{
in.y = - msg->normal.x;
in.x = msg->normal.y;
} else
{
in.y = - msg->normal.x;
in.x = msg->normal.y;
}
in.z = msg->altitude - neutral_z;
in.th = msg->angle;
}
geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
if (fabs(in.y) > fabs(in.x))
{
mvt->linear.y = f.y->f(in.y);
} else
{
mvt->linear.x = f.x->f(in.x);
}
mvt->linear.z = f.z->f(in.z);
mvt->angular.z = f.th->f(in.th);
pub.publish(mvt);
ROS_INFO("cmd published");
}
void reconfigure(const hand_control::Commander_atanConfig& c, const uint32_t& level)
{
max_curv = c.max_curvature;
neutral_z = c.neutral_alt;
min_number = c.min_points_number;
if (c.atan and f.x->get_type() != f_atan)
{
f.x = boost::make_shared<Atan>();
f.y = boost::make_shared<Atan>();
f.z = boost::make_shared<Atan>();
f.th = boost::make_shared<Atan>();
} else if (!c.atan and f.x->get_type() == f_atan)
{
f.x = boost::make_shared<Lin>();
f.y = boost::make_shared<Lin>();
f.z = boost::make_shared<Lin>();
f.th = boost::make_shared<Lin>();
}
f.x->set(c.x_min, c.x_max, c.x_p);
f.y->set(c.y_min, c.y_max, c.y_p);
f.z->set(c.z_min, c.z_max, c.z_p);
f.th->set(c.th_min, c.th_max, c.th_p);
ROS_INFO("parameters reconfigured");
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "commander_atan");
ros::NodeHandle node("commander_atan");
ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
Run run(cmd_pub);
ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
dynamic_reconfigure::Server<hand_control::Commander_atanConfig> server;
dynamic_reconfigure::Server<hand_control::Commander_atanConfig>::CallbackType f;
f = boost::bind(&Run::reconfigure, &run, _1, _2);
server.setCallback(f);
ROS_INFO("start spinning");
ros::spin();
return 0;
}
const float Run::Atan::demi_pi = 2*atan(1);

View file

@ -1,9 +0,0 @@
#ifndef DATA_H
#define DATA_H
template <typename T>
struct Data
{
public:
T x, y, z, th;
};
#endif

View file

@ -1,127 +0,0 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import roslib;# roslib.load_manifest('teleop_twist_keyboard')
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import Empty
import sys, select, termios, tty
msg = """
---------------------
takeoff>| t| y| u| i| o|
|---|---|---|---|---|----
reset>| g| h| j| k| l| m|
|---|---|---|---|---|----
land>| b| n| ,| ;| :|
---------------------
a/w : increase/decrease max speeds by 10%
z/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
anything else : stop
CTRL-C to quit
"""
moveBindings = {
# x th y z
'i':(1,0,0,0),
'o':(1,-1,0,0),
'j':(0,1,0,0),
'l':(0,-1,0,0),
'u':(1,1,0,0),
';':(-1,0,0,0),
':':(-1,1,0,0),
',':(-1,-1,0,0),
'h':(0,0,-1,0),
'm':(0,0,1,0),
'y':(0,0,0,1),
'n':(0,0,0,-1),
}
speedBindings={
'a':(1.1,1.1),
'w':(.9,.9),
'z':(1.1,1),
'x':(.9,1),
'e':(1,1.1),
'c':(1,.9),
}
def getKey():
tty.setraw(sys.stdin.fileno())
select.select([sys.stdin], [], [], 0)
key = sys.stdin.read(1)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speed = 0.1
turn = 0.5
def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
rospy.init_node('keyboard_azerty')
x = 0
th = 0
y = 0
z = 0
status = 0
try:
print msg
print vels(speed,turn)
while(1):
key = getKey()
if (key == 't'):
takeoff.publish(Empty())
print "takeoff"
elif (key == 'g'):
reset.publish(Empty())
print "reset"
elif (key == 'b'):
land.publish(Empty())
print "land"
else:
if key in moveBindings.keys():
x = moveBindings[key][0]
th = moveBindings[key][1]
y = moveBindings[key][2]
z = moveBindings[key][3]
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0]
turn = turn * speedBindings[key][1]
print vels(speed,turn)
if (status == 14):
print msg
status = (status + 1) % 15
else:
x = 0
th = 0
y = 0
z = 0
if (key == '\x03'):
break
twist = Twist()
twist.linear.x = x*speed
twist.linear.y = y*speed
twist.linear.z = z*speed
twist.angular.x = 0; twist.angular.y = 0;
twist.angular.z = th*turn
pub.publish(twist)
except:
print e
finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

View file

@ -1,3 +1,4 @@
// a not very useful test tool
#include <ros/ros.h> #include <ros/ros.h>
#include <pcl_ros/point_cloud.h> #include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h> #include <pcl/point_types.h>

View file

@ -1,3 +1,4 @@
// a not very useful test programm
#include <ros/ros.h> #include <ros/ros.h>
#include <time.h> #include <time.h>
#include <pcl_ros/point_cloud.h> #include <pcl_ros/point_cloud.h>