#include <pomdp.h>

Public Member Functions
void	mainLoop (void)
	main node thread
	Pomdp ()
	constructor
Private Member Functions
bool	execution_flow_controlCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	pomdp_action2wam_action (int pomdp_action, int &wam_action, int &zone, int &hand)
void	publish_belief ()
Private Attributes
int	actioncount
iri_wam_common_msgs::belief	belief_msg
ros::Publisher	belief_publisher
iri_wam_common_msgs::belief_summary	belief_summary_msg
ros::Publisher	belief_summary_publisher
bool	execution_flag
ros::ServiceServer	execution_flow_control_server
CMutex	execution_mutex
ros::Publisher	focused_obj_label_publisher
Policy *	myPolicy
ros::NodeHandle	node_handle_
std_msgs::Int32	ObjLabel_msg
ros::ServiceClient	obs_client
iri_wam_common_msgs::obs_request	obs_request_srv
std::vector< int >	probablestates
ros::ServiceClient	wam_action_client
iri_wam_common_msgs::wamaction	wam_actions_client_srv

Detailed Description

Definition at line 52 of file pomdp.h.

Constructor & Destructor Documentation

Pomdp::Pomdp ( )

constructor

This constructor mainly creates and initializes the WamActions topics through the given NodeHandle object. CIriNode attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 3 of file pomdp.cpp.

Member Function Documentation

bool Pomdp::execution_flow_controlCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Definition at line 107 of file pomdp.cpp.

void Pomdp::mainLoop ( void )

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned my 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.

Definition at line 45 of file pomdp.cpp.