IRI ROS Specific Algorithm Class. More...

#include <cleaning_plan_alg_node.h>

Inheritance diagram for CleaningPlanAlgNode:

Public Member Functions
	CleaningPlanAlgNode (void)
	Constructor.
	~CleaningPlanAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	getNearestCleanPlan (iri_clean_board::PlanToTrajectories::Request req, iri_clean_board::PlanToTrajectories::Response &res)
void	getNoPerceptionCleanPlan (iri_clean_board::PlanToTrajectories::Request req, iri_clean_board::PlanToTrajectories::Response &res)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	savePlanningResponse (iri_clean_board::PlanToTrajectories::Request req, iri_clean_board::PlanToTrajectories::Response &res)
Private Member Functions
bool	get_dirty_areas_state_representationCallback (iri_clean_board::StateRepresentation::Request &req, iri_clean_board::StateRepresentation::Response &res)
bool	get_trajectories_from_planCallback (iri_clean_board::PlanToTrajectories::Request &req, iri_clean_board::PlanToTrajectories::Response &res)
bool	representation_to_stringCallback (estirabot_msgs::RepresentationToString::Request &req, estirabot_msgs::RepresentationToString::Response &res)
void	show_dirty_areas_information (sensor_msgs::PointCloud2 pointcloud, std::vector< estirabot_msgs::DirtyArea > dirty_areas)
Private Attributes
bool	board_plan
tf::TransformBroadcaster	br
EllipsesRepresentation	ellipses_representation
std::string	file_planner_state
CMutex	get_dirty_areas_state_representation_mutex_
ros::ServiceServer	get_dirty_areas_state_representation_server_
CMutex	get_trajectories_from_plan_mutex_
ros::ServiceServer	get_trajectories_from_plan_server_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_plan_out_publisher_
visualization_msgs::MarkerArray	MarkerArray_msg_
uint32_t	max_number_actions
bool	no_perception
bool	no_planning
CMutex	representation_to_string_mutex_
ros::ServiceServer	representation_to_string_server_
ros::Publisher	visualization_markers_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 58 of file cleaning_plan_alg_node.h.

Constructor & Destructor Documentation

CleaningPlanAlgNode::CleaningPlanAlgNode ( void )

Constructor.

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

Definition at line 6 of file cleaning_plan_alg_node.cpp.

CleaningPlanAlgNode::~CleaningPlanAlgNode ( void )

Destructor.

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

Definition at line 33 of file cleaning_plan_alg_node.cpp.

Member Function Documentation

void CleaningPlanAlgNode::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< CleaningPlanAlgorithm >.

Definition at line 368 of file cleaning_plan_alg_node.cpp.

bool CleaningPlanAlgNode::get_dirty_areas_state_representationCallback	(	iri_clean_board::StateRepresentation::Request &	req,
		iri_clean_board::StateRepresentation::Response &	res
	)		`[private]`

Definition at line 71 of file cleaning_plan_alg_node.cpp.

bool CleaningPlanAlgNode::get_trajectories_from_planCallback	(	iri_clean_board::PlanToTrajectories::Request &	req,
		iri_clean_board::PlanToTrajectories::Response &	res
	)		`[private]`

Definition at line 123 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::getNearestCleanPlan	(	iri_clean_board::PlanToTrajectories::Request	req,
		iri_clean_board::PlanToTrajectories::Response &	res
	)		`[protected]`

Definition at line 291 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::getNoPerceptionCleanPlan	(	iri_clean_board::PlanToTrajectories::Request	req,
		iri_clean_board::PlanToTrajectories::Response &	res
	)		`[protected]`

Definition at line 330 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::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< CleaningPlanAlgorithm >.

Definition at line 38 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::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< CleaningPlanAlgorithm >.

Definition at line 352 of file cleaning_plan_alg_node.cpp.

bool CleaningPlanAlgNode::representation_to_stringCallback	(	estirabot_msgs::RepresentationToString::Request &	req,
		estirabot_msgs::RepresentationToString::Response &	res
	)		`[private]`

Definition at line 53 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::savePlanningResponse	(	iri_clean_board::PlanToTrajectories::Request	req,
		iri_clean_board::PlanToTrajectories::Response &	res
	)		`[protected]`

Definition at line 152 of file cleaning_plan_alg_node.cpp.

void CleaningPlanAlgNode::show_dirty_areas_information	(	sensor_msgs::PointCloud2	pointcloud,
		std::vector< estirabot_msgs::DirtyArea >	dirty_areas
	)		`[private]`