/turtlesim_ref/src/turtle.cpp - Diff - RoboBuggy - Robotics Club

Revision dd5d7f53

Added by tahm over 10 years ago

Converted back to msgs, before pushing to roboclub VCS

turtlesim_ref/src/turtle.cpp
36	36	#define DEFAULT_PEN_G 0xb8
37	37	#define DEFAULT_PEN_B 0xff
38	38
39		namespace turtlesim
	39	namespace turtlesim_ref
40	40	{
41	41
42	42	Turtle::Turtle(const ros::NodeHandle& nh, const QImage& turtle_image, const QPointF& pos, float orient)
...	...
71	71	ang_vel_ = vel->angular;
72	72	}
73	73
74		bool Turtle::setPenCallback(turtlesim::SetPen::Request& req, turtlesim::SetPen::Response&)
	74	bool Turtle::setPenCallback(turtlesim_ref::SetPen::Request& req, turtlesim_ref::SetPen::Response&)
75	75	{
76	76	pen_on_ = !req.off;
77	77	if (req.off)
...	...
89	89	return true;
90	90	}
91	91
92		bool Turtle::teleportRelativeCallback(turtlesim::TeleportRelative::Request& req, turtlesim::TeleportRelative::Response&)
	92	bool Turtle::teleportRelativeCallback(turtlesim_ref::TeleportRelative::Request& req,
	93	turtlesim_ref::TeleportRelative::Response&)
93	94	{
94	95	teleport_requests_.push_back(TeleportRequest(0, 0, req.angular, req.linear, true));
95	96	return true;
96	97	}
97	98
98		bool Turtle::teleportAbsoluteCallback(turtlesim::TeleportAbsolute::Request& req, turtlesim::TeleportAbsolute::Response&)
	99	bool Turtle::teleportAbsoluteCallback(turtlesim_ref::TeleportAbsolute::Request& req,
	100	turtlesim_ref::TeleportAbsolute::Response&)
99	101	{
100	102	teleport_requests_.push_back(TeleportRequest(req.x, req.y, req.theta, 0, false));
101	103	return true;

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