MopedActionclientAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <moped_actionclient_alg_node.h>

Inheritance diagram for MopedActionclientAlgNode:

List of all members.

Public Member Functions
	MopedActionclientAlgNode (void)
	Constructor.
	~MopedActionclientAlgNode (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
Protected Attributes
cv::Mat	image
Private Member Functions
void	mopedActive ()
void	mopedDone (const actionlib::SimpleClientGoalState &state, const iri_moped_actionserver::mopedResultConstPtr &result)
void	mopedFeedback (const iri_moped_actionserver::mopedFeedbackConstPtr &feedback)
void	mopedMakeActionRequest ()
Private Attributes
actionlib::SimpleActionClient < iri_moped_actionserver::mopedAction >	moped_client_
iri_moped_actionserver::mopedGoal	moped_goal_

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Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file moped_actionclient_alg_node.h.

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Constructor & Destructor Documentation

MopedActionclientAlgNode::MopedActionclientAlgNode

(

void

)

Constructor.

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

Definition at line 3 of file moped_actionclient_alg_node.cpp.

MopedActionclientAlgNode::~MopedActionclientAlgNode

(

void

)

Destructor.

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

Definition at line 23 of file moped_actionclient_alg_node.cpp.

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Member Function Documentation

void MopedActionclientAlgNode::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< MopedActionclientAlgorithm >.

Definition at line 125 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::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< MopedActionclientAlgorithm >.

Definition at line 28 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::mopedActive

(

)

[private]

Definition at line 57 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::mopedDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_moped_actionserver::mopedResultConstPtr &	result
	)		[private]

Definition at line 47 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::mopedFeedback

(

const iri_moped_actionserver::mopedFeedbackConstPtr &

feedback

)

[private]

Definition at line 62 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::mopedMakeActionRequest

(

)

[private]

Definition at line 80 of file moped_actionclient_alg_node.cpp.

void MopedActionclientAlgNode::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< MopedActionclientAlgorithm >.

Definition at line 118 of file moped_actionclient_alg_node.cpp.

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Member Data Documentation

cv::Mat MopedActionclientAlgNode::image [protected]

Definition at line 129 of file moped_actionclient_alg_node.h.

actionlib::SimpleActionClient<iri_moped_actionserver::mopedAction> MopedActionclientAlgNode::moped_client_ [private]

Definition at line 62 of file moped_actionclient_alg_node.h.

iri_moped_actionserver::mopedGoal MopedActionclientAlgNode::moped_goal_ [private]

Definition at line 63 of file moped_actionclient_alg_node.h.

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The documentation for this class was generated from the following files:

• moped_actionclient_alg_node.h
• moped_actionclient_alg_node.cpp