IRI ROS Specific Algorithm Class. More...

#include <darwin_simple_nav_client_alg_node.h>

Inheritance diagram for DarwinSimpleNavClientAlgNode:

Public Member Functions
	DarwinSimpleNavClientAlgNode (void)
	Constructor.
	~DarwinSimpleNavClientAlgNode (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	target_pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
bool	motion_done
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
move_base_msgs::MoveBaseGoal	move_base_goal_
CMutex	target_pose_mutex_
ros::Subscriber	target_pose_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file darwin_simple_nav_client_alg_node.h.

Constructor & Destructor Documentation

DarwinSimpleNavClientAlgNode::DarwinSimpleNavClientAlgNode ( void )

Constructor.

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

Definition at line 3 of file darwin_simple_nav_client_alg_node.cpp.

DarwinSimpleNavClientAlgNode::~DarwinSimpleNavClientAlgNode ( void )

Destructor.

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

Definition at line 25 of file darwin_simple_nav_client_alg_node.cpp.

Member Function Documentation

void DarwinSimpleNavClientAlgNode::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< DarwinSimpleNavClientAlgorithm >.

Definition at line 130 of file darwin_simple_nav_client_alg_node.cpp.

void DarwinSimpleNavClientAlgNode::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< DarwinSimpleNavClientAlgorithm >.

Definition at line 30 of file darwin_simple_nav_client_alg_node.cpp.

void DarwinSimpleNavClientAlgNode::move_baseActive ( ) [private]

Definition at line 80 of file darwin_simple_nav_client_alg_node.cpp.

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

Definition at line 69 of file darwin_simple_nav_client_alg_node.cpp.

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

Definition at line 85 of file darwin_simple_nav_client_alg_node.cpp.

void DarwinSimpleNavClientAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 104 of file darwin_simple_nav_client_alg_node.cpp.

void DarwinSimpleNavClientAlgNode::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< DarwinSimpleNavClientAlgorithm >.

Definition at line 123 of file darwin_simple_nav_client_alg_node.cpp.

void DarwinSimpleNavClientAlgNode::target_pose_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 42 of file darwin_simple_nav_client_alg_node.cpp.