Program with Carmen - Histórico de revisão

Jlucas em 22h08min de 21 de junho de 2016

2016-06-21T22:08:13Z

2016-06-21T22:05:28Z

2016-06-21T22:03:08Z

‎IPC

2016-06-21T21:51:59Z

‎IPC

2016-06-21T21:50:46Z

2016-06-21T21:42:54Z

2012-09-14T19:03:20Z

2012-06-19T11:31:17Z

2012-06-19T11:24:06Z

2011-09-14T18:15:57Z

‎Ackerman Odometry Messages

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 ==IPC==
 The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.
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 * The timestamp should also reflect the time of creation of the data, not the time the message was published. For instance, the laser message timestamp is the time the data was read from the serial port. Use the helper function carmen_get_time() to generate the timestamp as a double.
 ==Carmen Packages and Modules==

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 ==IPC==
-[[Manual IPC]]
+===Manual IPC===
 The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.

@@ Linha 142: / Linha 142: @@
 ==IPC==
-===Manual IPC===
+[[Manual IPC]]
 The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.

@@ Linha 142: / Linha 142: @@
 ==IPC==
-===Manual IPC===[[Arquivo:Exemplo.jpg]]
+===Manual IPC===
 The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.

@@ Linha 142: / Linha 142: @@
 ==IPC==
-===Manual IPC===
+===Manual IPC===[[Arquivo:Exemplo.jpg]]
 The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.

← Edição anterior		Edição das 21h42min de 21 de junho de 2016
Linha 142:		Linha 142:

	==IPC==		==IPC==
		+	===Manual IPC===

	The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.		The "central" program, IPC, enables communication between these other programs. Information on using and coding with IPC can be found at http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html. A simplistic explanation of IPC: various programs "publish" generated information which is then "subscribed to" by other programs. IPC keeps track of what is published and delivers it to the subscribers.

← Edição anterior		Edição das 19h03min de 14 de setembro de 2012
Linha 1:		Linha 1:
		+	[[category:Carmen]]
	==Introduction==		==Introduction==

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 ** theta = atan2(y, x) should always be used instead of theta = atan(y/x);
 * If you need the hypotenuse of something, use hypot (try man hypot) - do not take the sum of squares and find the square root. hypot should be used for code clarity.
-* Try not to invent your own data structures. Use one of
+* Try not to invent your own data structures. Use one of defined in global.h and map_interface.h:
    carmen_point_t
    carmen_traj_point_t
    carmen_map_point_t
    carmen_world_point_t
 * Make sure that you use the right data structure to store the right kind of data.
 * When converting between coordinate frames, use the helper functions in map_interface.h and global.h.

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 You are not the only person who will ever have to read, understand and modify your code.
 ===Units and Coordinates===
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 ===Naming Conventions===
 * The most important naming convention is to expect that your code could be converted into a library one day. Therefore, it is important to think about global name spaces.
 * As many functions and global variables should be static as possible. In general, try to avoid global variables.
 * Static global variables with accessor functions are preferable to non-static globals.
 * Any non-static functions and global variables must have the prepend carmen_{module-name}. e.g., carmen_base_subscribe_odometry.
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 * Never generate random numbers yourself. You will do it wrong. Always use one of carmen_int_random, carmen_uniform_random or carmen_gaussian_random. Consult the documentation for these functions to find out which random algorithm they use.
 * Never create random number seeds yourself. You will do it wrong. Always use carmen_randomize. This function randomizes by reading a seed from /dev/random.
 ==IPC==

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    } carmen_base_ackerman_odometry_message;
 The x, y, theta fields are the raw odometry, from the time the robot was turned on. The v field is the translational velocity on the direction of movement (theta). The phi field is the angle of the steering whell of the robot.
 ====Laser Messages====