| 190 | } |
| 191 | |
| 192 | void CostmapInterface::DetectMovement(const ros::TimerEvent &event) { |
| 193 | tf::Stamped<tf::Pose> new_pose; |
| 194 | if (!GetRobotPose(new_pose)) { |
| 195 | robot_stopped_ = false; |
| 196 | } else if (fabs((old_pose_.getOrigin() - new_pose.getOrigin()).length()) < 1e-3 \ |
| 197 | && fabs(old_pose_.getRotation().angle(new_pose.getRotation())) < 1e-3) { |
| 198 | old_pose_ = new_pose; |
| 199 | robot_stopped_ = true; |
| 200 | } else { |
| 201 | old_pose_ = new_pose; |
| 202 | robot_stopped_ = false; |
| 203 | } |
| 204 | } |
| 205 | |
| 206 | void CostmapInterface::MapUpdateLoop(double frequency) { |
| 207 | if (frequency <= 0.0) { |
nothing calls this directly
no outgoing calls
no test coverage detected