#include <pomdp_modeler.h>

Public Member Functions
void	mainLoop (void)
	main node thread
	PomdpModeler ()
	constructor
Private Member Functions
bool	execution_flow_controlCallback (iri_wam_common_msgs::modeling::Request &req, iri_wam_common_msgs::modeling::Response &res)
void	printObsBaseMatrix ()
Private Attributes
int	counter
bool	execution_flag
ros::ServiceServer	execution_flow_control_server
int	experiments_per_action
ros::Publisher	focused_obj_label_publisher
int	modelactions
Modeler *	modeler
ros::NodeHandle	node_handle_
int	numactions
int	numobservations
int	numstates
double	obs_base_matrix [5][5]
ros::ServiceClient	obs_client
iri_wam_common_msgs::obs_request	obs_request_srv
std_msgs::Int32	progress_msg
int	real_num_objects
ros::ServiceClient	save_pcl_client
std_srvs::Empty	save_pcl_srv
int	state_final
ros::ServiceClient	wam_action_client
iri_wam_common_msgs::wamaction	wam_actions_client_srv

Detailed Description

Definition at line 28 of file pomdp_modeler.h.

Constructor & Destructor Documentation

PomdpModeler::PomdpModeler ( )

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_modeler.cpp.

Member Function Documentation

bool PomdpModeler::execution_flow_controlCallback	(	iri_wam_common_msgs::modeling::Request &	req,
		iri_wam_common_msgs::modeling::Response &	res
	)		`[private]`

Definition at line 131 of file pomdp_modeler.cpp.

void PomdpModeler::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 59 of file pomdp_modeler.cpp.

void PomdpModeler::printObsBaseMatrix ( ) [private]

Definition at line 142 of file pomdp_modeler.cpp.