SkinSafeBase Class Reference

SkinSafeBase class. More...

#include <skin_safe_base.h>

List of all members.

Classes
struct	sensor_data_struct
Public Member Functions
	SkinSafeBase ()
	Constructor initializes SkinSafeBase.
virtual	~SkinSafeBase ()
	Destructor of SkinSafeBase.
Private Member Functions
bool	checkPatchesBlocked (std::vector< int > &patches)
	updateBlockedPatches
void	loadParameterDouble (ros::NodeHandle &nh_, std::string param, double &data)
	Loads double parameter from ROS parameter server.
void	loadParameterInt (ros::NodeHandle &nh_, std::string param, int &data)
	Loads integer parameter from ROS parameter server.
void	loadParameterIntArray (ros::NodeHandle &nh_, std::string param, std::vector< int > &vec)
	Loads integer array parameter from ROS parameter server.
void	newBaseCommandCallback (const boost::shared_ptr< geometry_msgs::Twist const > &msg)
void	skinNewMeasCallback (const boost::shared_ptr< skin_driver::skin_meas const > &msg)
	Callback function which is called when new skin message arrives.
Private Attributes
bool	blocked_bl_
bool	blocked_br_
bool	blocked_fl_
bool	blocked_fr_
bool	blocked_lb_
bool	blocked_lf_
bool	blocked_rb_
bool	blocked_rf_
double	max_vel_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
int	num_sensors_
std::vector< int >	patches_bl_
std::vector< int >	patches_br_
std::vector< int >	patches_fl_
std::vector< int >	patches_fr_
std::vector< int >	patches_lb_
std::vector< int >	patches_lf_
std::vector< int >	patches_rb_
std::vector< int >	patches_rf_
ros::Publisher	pub_cmd_vel_limits_
std::vector< sensor_data_struct >	sensor_data_
int	sensor_threshold_
ros::Subscriber	sub_skin_data_

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Detailed Description

SkinSafeBase class.

Definition at line 49 of file skin_safe_base.h.

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Constructor & Destructor Documentation

SkinSafeBase::SkinSafeBase

(

)

Constructor initializes SkinSafeBase.

Initialize buffers, subscribe to skin_data message

Definition at line 39 of file skin_safe_base.cpp.

SkinSafeBase::~SkinSafeBase

(

)

[virtual]

Destructor of SkinSafeBase.

Definition at line 65 of file skin_safe_base.cpp.

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Member Function Documentation

bool SkinSafeBase::checkPatchesBlocked

(

std::vector< int > &

patches

)

[private]

updateBlockedPatches

Returns false if no skin patch of group (ids of skin patches of group are stored in vector patches) is activated. Returns true if one or more patches are activated.

Definition at line 162 of file skin_safe_base.cpp.

void SkinSafeBase::loadParameterDouble	(	ros::NodeHandle &	nh_,
		std::string	param,
		double &	data
	)			[private]

Loads double parameter from ROS parameter server.

Loads parameter, if parameter not present notifies user and exits.

Parameters:

	nh_	Node Handle to use
	param	Name of parameter to load
	data	Contains loaded parameter from server

Definition at line 210 of file skin_safe_base.cpp.

void SkinSafeBase::loadParameterInt	(	ros::NodeHandle &	nh_,
		std::string	param,
		int &	data
	)			[private]

Loads integer parameter from ROS parameter server.

Loads parameter, if parameter not present notifies user and exits.

Parameters:

	nh_	Node Handle to use
	param	Name of parameter to load
	data	Contains loaded parameter from server

Definition at line 231 of file skin_safe_base.cpp.

void SkinSafeBase::loadParameterIntArray	(	ros::NodeHandle &	nh_,
		std::string	param,
		std::vector< int > &	vec
	)			[private]

Loads integer array parameter from ROS parameter server.

Loads parameter array, if parameter not present notifies user and exits. Parameter array is returned as std::vector<int>.

Parameters:

	nh_	Node Handle to use
	param	Name of parameter to load
	vec	Contains loaded parameter from server

Definition at line 253 of file skin_safe_base.cpp.

void SkinSafeBase::newBaseCommandCallback

(

const boost::shared_ptr< geometry_msgs::Twist const > &

msg

)

[private]

void SkinSafeBase::skinNewMeasCallback

(

const boost::shared_ptr< skin_driver::skin_meas const > &

msg

)

[private]

Callback function which is called when new skin message arrives.

Converts skin message and sends abort message.

Parameters:

msg

skin_data message.

Definition at line 74 of file skin_safe_base.cpp.

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Member Data Documentation

bool SkinSafeBase::blocked_bl_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_br_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_fl_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_fr_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_lb_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_lf_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_rb_ [private]

Definition at line 81 of file skin_safe_base.h.

bool SkinSafeBase::blocked_rf_ [private]

Definition at line 81 of file skin_safe_base.h.

double SkinSafeBase::max_vel_ [private]

Definition at line 67 of file skin_safe_base.h.

ros::NodeHandle SkinSafeBase::nh_ [private]

Definition at line 60 of file skin_safe_base.h.

ros::NodeHandle SkinSafeBase::nh_private_ [private]

Definition at line 61 of file skin_safe_base.h.

int SkinSafeBase::num_sensors_ [private]

Definition at line 65 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_bl_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_br_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_fl_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_fr_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_lb_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_lf_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_rb_ [private]

Definition at line 78 of file skin_safe_base.h.

std::vector<int> SkinSafeBase::patches_rf_ [private]

Definition at line 78 of file skin_safe_base.h.

ros::Publisher SkinSafeBase::pub_cmd_vel_limits_ [private]

Definition at line 63 of file skin_safe_base.h.

std::vector<sensor_data_struct> SkinSafeBase::sensor_data_ [private]

Definition at line 96 of file skin_safe_base.h.

int SkinSafeBase::sensor_threshold_ [private]

Definition at line 66 of file skin_safe_base.h.

ros::Subscriber SkinSafeBase::sub_skin_data_ [private]

Definition at line 62 of file skin_safe_base.h.

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The documentation for this class was generated from the following files:

• skin_safe_base.h
• skin_safe_base.cpp