70 player_position2d_geom_t robot_geom;
71 int first_goal_has_been_set_to_init_position;
73 void SetSpeedCmd(player_position2d_cmd_vel_t cmd);
77 std::vector<double> laser__ranges;
78 double laser__resolution;
79 double laser__max_range;
80 uint32_t laser__ranges_count;
84 double obstacle_avoid_dist;
87 double goal_position_tol;
88 double goal_angle_tol;
89 double goalX,goalY,goalA;
90 pthread_t algorithm_thread;
91 pthread_mutex_t goal_mutex;
92 pthread_cond_t goal_changed_cond;
94 pthread_mutex_t data_mutex;
95 pthread_cond_t data_changed_cond;
97 int data_odometry_ready;
100 void WaitForNextGoal();
101 void SignalNextGoal(
double goalX,
double goalY,
double goalA);
103 void ReadIfWaiting();