IRI ROS Specific Algorithm Class. More...

#include <darwin_icra12_alg_node.h>

Inheritance diagram for DarwinIcra12AlgNode:

Public Member Functions
	DarwinIcra12AlgNode (void)
	Constructor.
	~DarwinIcra12AlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	move_baseActive ()
void	move_baseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_baseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	move_baseMakeActionRequest ()
void	move_jointsActive ()
void	move_jointsDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	move_jointsFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	move_jointsMakeActionRequest ()
void	move_left_armActive ()
void	move_left_armDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	move_left_armFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	move_left_armMakeActionRequest ()
void	move_right_armActive ()
void	move_right_armDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	move_right_armFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	move_right_armMakeActionRequest ()
void	object_pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
bool	arm_moving
bool	base_moving
bool	joints_moving
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
move_base_msgs::MoveBaseGoal	move_base_goal_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	move_joints_client_
control_msgs::FollowJointTrajectoryGoal	move_joints_goal_
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_left_arm_client_
arm_navigation_msgs::MoveArmGoal	move_left_arm_goal_
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_right_arm_client_
arm_navigation_msgs::MoveArmGoal	move_right_arm_goal_
bool	new_object_pose
geometry_msgs::PoseStamped	object_pose
CMutex	object_pose_mutex_
ros::Subscriber	object_pose_subscriber_
TStates	state
tf::TransformListener	tf_listener

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file darwin_icra12_alg_node.h.

Constructor & Destructor Documentation

DarwinIcra12AlgNode::DarwinIcra12AlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file darwin_icra12_alg_node.cpp.

DarwinIcra12AlgNode::~DarwinIcra12AlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 35 of file darwin_icra12_alg_node.cpp.

Member Function Documentation

void DarwinIcra12AlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< DarwinIcra12Algorithm >.

Definition at line 470 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< DarwinIcra12Algorithm >.

Definition at line 40 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_baseActive ( ) [private]

Definition at line 332 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_baseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 321 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_baseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 337 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 425 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_jointsActive ( ) [private]

Definition at line 299 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_jointsDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`

Definition at line 288 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_jointsFeedback ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & feedback ) [private]

Definition at line 304 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_jointsMakeActionRequest ( ) [private]

Definition at line 406 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_left_armActive ( ) [private]

Definition at line 365 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_left_armDone	(	const actionlib::SimpleClientGoalState &	state,
		const arm_navigation_msgs::MoveArmResultConstPtr &	result
	)		`[private]`

Definition at line 354 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_left_armFeedback ( const arm_navigation_msgs::MoveArmFeedbackConstPtr & feedback ) [private]

Definition at line 370 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_left_armMakeActionRequest ( ) [private]

Definition at line 444 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_right_armActive ( ) [private]

Definition at line 267 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_right_armDone	(	const actionlib::SimpleClientGoalState &	state,
		const arm_navigation_msgs::MoveArmResultConstPtr &	result
	)		`[private]`

Definition at line 256 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_right_armFeedback ( const arm_navigation_msgs::MoveArmFeedbackConstPtr & feedback ) [private]

Definition at line 272 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::move_right_armMakeActionRequest ( ) [private]

Definition at line 388 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< DarwinIcra12Algorithm >.

Definition at line 463 of file darwin_icra12_alg_node.cpp.

void DarwinIcra12AlgNode::object_pose_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 221 of file darwin_icra12_alg_node.cpp.