IRI ROS Specific Algorithm Class. More...

#include <pose2d_odom_alg_node.h>

Inheritance diagram for Pose2dOdomAlgNode:

Public Member Functions
	Pose2dOdomAlgNode (void)
	Constructor.
	~Pose2dOdomAlgNode (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
tf::TransformBroadcaster	pose2dodom_broadcaster_
	odometry tf broadcaster
Private Member Functions
void	pose2din_callback (const geometry_msgs::Pose2D &msg)
Private Attributes
CEventServer *	ES
	event server
std::string	frame_id_
nav_msgs::Odometry	Odometry_msg_
std::string	P2D_IN
	unique name of the event
std::string	parent_id_
bool	pose2d_arrived_
CMutex	pose2din_mutex_
ros::Subscriber	pose2din_subscriber_
ros::Publisher	pose2dodom_publisher_
bool	publish_tf_
std::list< std::string >	SUBS_LIST
geometry_msgs::TransformStamped	Transform_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file pose2d_odom_alg_node.h.

Constructor & Destructor Documentation

Pose2dOdomAlgNode::Pose2dOdomAlgNode ( void )

Constructor.

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

Definition at line 3 of file pose2d_odom_alg_node.cpp.

Pose2dOdomAlgNode::~Pose2dOdomAlgNode ( void )

Destructor.

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

Definition at line 43 of file pose2d_odom_alg_node.cpp.

Member Function Documentation

void Pose2dOdomAlgNode::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< Pose2dOdomAlgorithm >.

Definition at line 108 of file pose2d_odom_alg_node.cpp.

void Pose2dOdomAlgNode::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< Pose2dOdomAlgorithm >.

Definition at line 48 of file pose2d_odom_alg_node.cpp.

void Pose2dOdomAlgNode::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< Pose2dOdomAlgorithm >.

Definition at line 104 of file pose2d_odom_alg_node.cpp.

void Pose2dOdomAlgNode::pose2din_callback ( const geometry_msgs::Pose2D & msg ) [private]

Definition at line 69 of file pose2d_odom_alg_node.cpp.