int set_cursor(INT loc)
{
if (loc < 0 && base % lineLength)
loc = 0;
if (!tryloc(loc))
return FALSE;
if (loc < base) {
if (loc - base % lineLength < 0)
set_base(0);
else if (!move_base(myfloor(loc - base % lineLength, lineLength) + base % lineLength - base))
return FALSE;
cursor = loc - base;
} else if (loc >= base + page) {
if (!move_base(myfloor(loc - base % lineLength, lineLength) + base % lineLength - page + lineLength - base))
return FALSE;
cursor = loc - base;
} else if (loc > base + nbBytes) {
return FALSE;
} else
cursor = loc - base;
if (mark_set)
updateMarked();
return TRUE;
}
int main(int argc, char** argv){
ros::init(argc, argv, "winter_move_base_node");
tf::TransformListener tf(ros::Duration(10));
move_base::MoveBase move_base( tf );
//ros::MultiThreadedSpinner s;
ros::spin();
return(0);
}
movebase_node.cpp
//
/*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
//#include <move_base/move_base.h>
#include "../include/move_base/move_base.h"
int main(int argc, char** argv){
ros::init(argc, argv, "move_base_node");
tf::TransformListener tf(ros::Duration(10));
move_base::MoveBase move_base( tf );
//ros::MultiThreadedSpinner s;
ros::spin();
return(0);
}
void android_main(android_app *papp) {
// Make sure glue isn't stripped
app_dummy();
int argc = 4;
// TODO: handle the master uri and device IP at runtime
#ifndef ROS_MASTER_URI
#error ROS_MASTER_URI MUST be set in files/move_base_app/jni/Android.mk.in
#endif
#ifndef ROS_ANDROID_IP
#error ROS_ANDROID_IP MUST be set in files/move_base_app/jni/Android.mk.in
#endif
char *argv[] = {"nothing_important" , ROS_MASTER_URI, ROS_ANDROID_IP, "cmd_vel:=navigation_velocity_smoother/raw_cmd_vel"};
for(int i = 0; i < argc; i++){
log(argv[i]);
}
ros::init(argc, &argv[0], "move_base");
std::string master_uri = ros::master::getURI();
if(ros::master::check()){
log("ROS MASTER IS UP!");
} else {
log("NO ROS MASTER.");
}
log(master_uri.c_str());
ros::NodeHandle n;
tf::TransformListener tf(ros::Duration(10));
move_base::MoveBase move_base(tf);
ros::WallRate loop_rate(100);
while(ros::ok() && !papp->destroyRequested){
ros::spinOnce();
loop_rate.sleep();
}
}
