IRI ROS Specific Algorithm Class. More...

#include <moped_actionserver_alg_node.h>

Inheritance diagram for MopedActionserverAlgNode:

Public Member Functions
	MopedActionserverAlgNode (void)
	Constructor.
	~MopedActionserverAlgNode (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
bool	image_sent
pr_msgs::ObjectPoseList	result
Private Member Functions
void	mopedGetFeedbackCallback (iri_moped_actionserver::mopedFeedbackPtr &feedback)
void	mopedGetResultCallback (iri_moped_actionserver::mopedResultPtr &result)
bool	mopedHasSucceedCallback (void)
bool	mopedIsFinishedCallback (void)
void	mopedStartCallback (const iri_moped_actionserver::mopedGoalConstPtr &goal)
void	mopedStopCallback (void)
void	object_poses_callback (const pr_msgs::ObjectPoseList::ConstPtr &msg)
Private Attributes
sensor_msgs::Image	Image_msg_
ros::Publisher	Image_publisher_
IriActionServer < iri_moped_actionserver::mopedAction >	moped_aserver_
CMutex	object_poses_mutex_
ros::Subscriber	object_poses_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file moped_actionserver_alg_node.h.

Constructor & Destructor Documentation

MopedActionserverAlgNode::MopedActionserverAlgNode ( void )

Constructor.

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

Definition at line 3 of file moped_actionserver_alg_node.cpp.

MopedActionserverAlgNode::~MopedActionserverAlgNode ( void )

Destructor.

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

Definition at line 32 of file moped_actionserver_alg_node.cpp.

Member Function Documentation

void MopedActionserverAlgNode::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< MopedActionserverAlgorithm >.

Definition at line 173 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::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< MopedActionserverAlgorithm >.

Definition at line 37 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::mopedGetFeedbackCallback ( iri_moped_actionserver::mopedFeedbackPtr & feedback ) [private]

Definition at line 156 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::mopedGetResultCallback ( iri_moped_actionserver::mopedResultPtr & result ) [private]

Definition at line 146 of file moped_actionserver_alg_node.cpp.

bool MopedActionserverAlgNode::mopedHasSucceedCallback ( void ) [private]

Definition at line 133 of file moped_actionserver_alg_node.cpp.

bool MopedActionserverAlgNode::mopedIsFinishedCallback ( void ) [private]

Definition at line 120 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::mopedStartCallback ( const iri_moped_actionserver::mopedGoalConstPtr & goal ) [private]

Definition at line 77 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::mopedStopCallback ( void ) [private]

Definition at line 102 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::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< MopedActionserverAlgorithm >.

Definition at line 166 of file moped_actionserver_alg_node.cpp.

void MopedActionserverAlgNode::object_poses_callback ( const pr_msgs::ObjectPoseList::ConstPtr & msg ) [private]

Definition at line 51 of file moped_actionserver_alg_node.cpp.