IRI ROS Specific Algorithm Class. More...

#include <door_detector_actions_alg_node.h>

Inheritance diagram for DoorDetectorActionsAlgNode:

Public Member Functions
	DoorDetectorActionsAlgNode (void)
	Constructor.
	~DoorDetectorActionsAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
visualization_msgs::Marker	ArrowMarker (std_msgs::Header header, geometry_msgs::Pose pose, int alpha, int color, const char arrow_tag[])
	Arrow Marker.
arm_navigation_msgs::MotionPlanRequest	liftArm (geometry_msgs::PoseStamped pose, std::string target_frame)
	lift arm
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
arm_navigation_msgs::MotionPlanRequest	transformGoalArm (geometry_msgs::PoseStamped pose, std::string traget_frame)
	transform pose to arm frame
geometry_msgs::PoseStamped	transformGoalBase (geometry_msgs::PoseStamped pose, std::string traget_frame)
	transform pose for to base frame
Private Member Functions
void	door_centroid_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	door_handle_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	find_a_doorGetFeedbackCallback (iri_door_detector::FindADoorFeedbackPtr &feedback)
void	find_a_doorGetResultCallback (iri_door_detector::FindADoorResultPtr &result)
bool	find_a_doorHasSucceedCallback (void)
bool	find_a_doorIsFinishedCallback (void)
void	find_a_doorStartCallback (const iri_door_detector::FindADoorGoalConstPtr &goal)
void	find_a_doorStopCallback (void)
Private Attributes
std_msgs::Int8	action_start
double	arm_distance_before_closed_door
arm_navigation_msgs::MotionPlanRequest	arm_door_centroid
arm_navigation_msgs::MotionPlanRequest	arm_door_handle
CMutex	arm_poses_marker_mutex_
ros::Publisher	arm_poses_marker_publisher_
double	base_distance_after_open_door
double	base_distance_before_closed_door
geometry_msgs::PoseStamped	base_door_centroid
geometry_msgs::PoseStamped	base_door_handle
int	closed_door
std::string	current_planner
ros::Publisher	door_action_start_publisher_
CMutex	door_centroid_mutex_
ros::Subscriber	door_centroid_subscriber_
CMutex	door_handle_mutex_
ros::Subscriber	door_handle_subscriber_
IriActionServer < iri_door_detector::FindADoorAction >	find_a_door_aserver_
std_msgs::Int8	Int8_msg_
visualization_msgs::Marker	marker
visualization_msgs::Marker	Marker_msg_
geometry_msgs::PoseStamped	marker_pose
bool	no_simulator
int	open_door
float	side_closed
float	side_open
int	start
std::string	tf_arm_frame
std::string	tf_base_frame
tf::TransformListener	tf_listener
std::string	tf_original_frame
std::string	tf_target_frame
std::string	tf_target_frame_2
int	voting_rule_approval
double	y_offset
double	z_arm_offset

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file door_detector_actions_alg_node.h.

Constructor & Destructor Documentation

DoorDetectorActionsAlgNode::DoorDetectorActionsAlgNode ( void )

Constructor.

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

Definition at line 4 of file door_detector_actions_alg_node.cpp.

DoorDetectorActionsAlgNode::~DoorDetectorActionsAlgNode ( void )

Destructor.

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

Definition at line 47 of file door_detector_actions_alg_node.cpp.

Member Function Documentation

void DoorDetectorActionsAlgNode::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< DoorDetectorActionsAlgorithm >.

Definition at line 324 of file door_detector_actions_alg_node.cpp.

visualization_msgs::Marker DoorDetectorActionsAlgNode::ArrowMarker	(	std_msgs::Header	header,
		geometry_msgs::Pose	pose,
		int	alpha,
		int	color,
		const char	arrow_tag[]
	)		`[protected]`

Arrow Marker.

Construct an arrow marker for plane orientation visualization

Definition at line 583 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::door_centroid_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 132 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::door_handle_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 66 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::find_a_doorGetFeedbackCallback ( iri_door_detector::FindADoorFeedbackPtr & feedback ) [private]

Definition at line 300 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::find_a_doorGetResultCallback ( iri_door_detector::FindADoorResultPtr & result ) [private]

Definition at line 267 of file door_detector_actions_alg_node.cpp.

bool DoorDetectorActionsAlgNode::find_a_doorHasSucceedCallback ( void ) [private]

Definition at line 250 of file door_detector_actions_alg_node.cpp.

bool DoorDetectorActionsAlgNode::find_a_doorIsFinishedCallback ( void ) [private]

Definition at line 234 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::find_a_doorStartCallback ( const iri_door_detector::FindADoorGoalConstPtr & goal ) [private]

Definition at line 208 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::find_a_doorStopCallback ( void ) [private]

Definition at line 223 of file door_detector_actions_alg_node.cpp.

arm_navigation_msgs::MotionPlanRequest DoorDetectorActionsAlgNode::liftArm	(	geometry_msgs::PoseStamped	pose,
		std::string	target_frame
	)		`[protected]`

lift arm

Simple arm pose to traverse partially open doors

Definition at line 509 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::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< DoorDetectorActionsAlgorithm >.

Definition at line 52 of file door_detector_actions_alg_node.cpp.

void DoorDetectorActionsAlgNode::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< DoorDetectorActionsAlgorithm >.

Definition at line 310 of file door_detector_actions_alg_node.cpp.

arm_navigation_msgs::MotionPlanRequest DoorDetectorActionsAlgNode::transformGoalArm	(	geometry_msgs::PoseStamped	pose,
		std::string	traget_frame
	)		`[protected]`