Revision 30a3768e scout/libscout/src/behaviors/Odometry.cpp

View differences:

scout/libscout/src/behaviors/Odometry.cpp
7 7 
Odometry::Odometry(string scoutname, Sensors* sensors):Behavior(scoutname,
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                                                "odometry", sensors)
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{
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  name = scoutname;
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  scout_pos = new pos;
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  motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0;
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}
......
53 54 

  		




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void Odometry::run()


  		




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{


  		




  
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  scout_position = node.advertise< ::messages::ScoutPosition>(name+"/position", 1000); 


  		




  
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  while(ok())


  		




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  {


  		




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    get_position();


  		




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    //TODO publish position


  		




  
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    position.name = name;


  		




  
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    position.x = scout_pos->x;


  		




  
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    position.y = scout_pos->y;


  		




  
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    position.theta = scout_pos->theta;


  		




  
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    scout_position.publish(position);


  		




  
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    ROS_INFO("Scout is at x: %f  y: %f theta: %f\n", scout_pos->x, scout_pos->y, scout_pos->theta);


  		




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  }


  		




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}


  		












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