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hiep sua ten file

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HiepLM
2025-12-30 09:57:13 +07:00
parent 6d55c6c4be
commit d6512018ef
6 changed files with 48 additions and 48 deletions
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28
include/custom_planner/Curve_common.h
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@@ -7,9 +7,9 @@
// #include <deque>
// #include <iostream>
#include <nav_msgs/Path.h>
#include <robot_nav_msgs/Path.h>
#include <robot_geometry_msgs/Point.h>
#include <visualization_msgs/Marker.h>
#include <robot_visualization_msgs/Marker.h>
#include "custom_planner/color.h"
struct Spline_Inf
@@ -47,12 +47,12 @@ class Curve_common
{
public:
Curve_common();
nav_msgs::Path Generate_Line(robot_geometry_msgs::Point start_point, robot_geometry_msgs::Point end_point, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_Line(robot_geometry_msgs::Point start_point, robot_geometry_msgs::Point end_point, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id);
void CalculateDerivativeBasisFunc(Spline_Inf *spline_inf, double u_data, int differential_times);
robot_geometry_msgs::Point CalculateDerivativeCurvePoint(Spline_Inf *spline_inf, double u_data, int differential_times, bool UsingNURBS);
@@ -67,15 +67,15 @@ class Curve_common
void ReadSplineInf(Spline_Inf *bspline_inf, std::vector<double> weight_vector, bool use_limit_derivative_fitting);
void ReadDiscreate2DPointFromLaunch(EigenTrajectoryPoint::Vector *input_point, std::vector<double> file_discreate_point);
void ReadDiscreate2DPointFromLaunch(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > *input_point, std::vector<double> file_discreate_point);
void ShowDiscreatePoint(visualization_msgs::Marker *points, EigenTrajectoryPoint::Vector discreate_point);
void ShowDiscreatePoint(visualization_msgs::Marker *points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point);
void ShowDiscreatePoint(robot_visualization_msgs::Marker *points, EigenTrajectoryPoint::Vector discreate_point);
void ShowDiscreatePoint(robot_visualization_msgs::Marker *points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point);
//TODO: move relate visualize function to new vislization.h
int print();
visualization_msgs::Marker ShowDiscreatePoint(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint2(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, std_msgs::ColorRGBA point_color, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, std_msgs::ColorRGBA point_color, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint2(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, robot_std_msgs::ColorRGBA point_color, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, robot_std_msgs::ColorRGBA point_color, const std::string& name, double scale);
private:

6
include/custom_planner/color.h
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@@ -1,14 +1,14 @@
#ifndef CUSTOM_PLANNER_COLOR_H_
#define CUSTOM_PLANNER_COLOR_H_
#include <std_msgs/ColorRGBA.h>
#include <robot_std_msgs/ColorRGBA.h>
namespace agv_visualization
{
class Color : public std_msgs::ColorRGBA
class Color : public robot_std_msgs::ColorRGBA
{
public:
Color() : std_msgs::ColorRGBA() {}
Color() : robot_std_msgs::ColorRGBA() {}
Color(double red, double green, double blue) : Color(red, green, blue, 1.0) {}
Color(double red, double green, double blue, double alpha) : Color() {
r = red;

2
include/custom_planner/custom_planner.h
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@@ -10,7 +10,7 @@ using namespace std;
// ROS
#include <robot_geometry_msgs/PoseStamped.h>
#include <visualization_msgs/Marker.h>
#include <robot_visualization_msgs/Marker.h>
// Costmap used for the map representation
#include <costmap_2d/costmap_2d_robot.h>