IriOAClientAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <iri_oa_client_alg_node.h>

Inheritance diagram for IriOAClientAlgNode:

List of all members.

Public Member Functions
	IriOAClientAlgNode (void)
	Constructor.
	~IriOAClientAlgNode (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
Private Member Functions
void	MoveBaseActive (void)
void	MoveBaseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	MoveBaseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	MoveBaseMakeActionRequest (const geometry_msgs::PoseStamped &new_goal)
void	nav_goal_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	MoveBase_client_
CMutex	nav_goal_mutex_
ros::Subscriber	nav_goal_subscriber_

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Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file iri_oa_client_alg_node.h.

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Constructor & Destructor Documentation

IriOAClientAlgNode::IriOAClientAlgNode

(

void

)

Constructor.

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

Definition at line 3 of file iri_oa_client_alg_node.cpp.

IriOAClientAlgNode::~IriOAClientAlgNode

(

void

)

Destructor.

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

Definition at line 23 of file iri_oa_client_alg_node.cpp.

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Member Function Documentation

void IriOAClientAlgNode::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< IriOaClientAlgorithm >.

Definition at line 144 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::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< IriOaClientAlgorithm >.

Definition at line 28 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::MoveBaseActive

(

void

)

[private]

Definition at line 68 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::MoveBaseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		[private]

Definition at line 60 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::MoveBaseFeedback

(

const move_base_msgs::MoveBaseFeedbackConstPtr &

feedback

)

[private]

Definition at line 73 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::MoveBaseMakeActionRequest

(

const geometry_msgs::PoseStamped &

new_goal

)

[private]

Definition at line 91 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::nav_goal_callback

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

[private]

Definition at line 40 of file iri_oa_client_alg_node.cpp.

void IriOAClientAlgNode::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< IriOaClientAlgorithm >.

Definition at line 137 of file iri_oa_client_alg_node.cpp.

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Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> IriOAClientAlgNode::MoveBase_client_ [private]

Definition at line 63 of file iri_oa_client_alg_node.h.

CMutex IriOAClientAlgNode::nav_goal_mutex_ [private]

Definition at line 54 of file iri_oa_client_alg_node.h.

ros::Subscriber IriOAClientAlgNode::nav_goal_subscriber_ [private]

Definition at line 52 of file iri_oa_client_alg_node.h.

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

• iri_oa_client_alg_node.h
• iri_oa_client_alg_node.cpp