IRI ROS Specific Algorithm Class. More...

#include <object_detection_alg_node.h>

Inheritance diagram for ObjectDetectionAlgNode:

Public Member Functions
	ObjectDetectionAlgNode (void)
	Constructor.
	~ObjectDetectionAlgNode (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 Types
enum	clients { TTS_ = 0, LEDS_ = 1, HEAD_ = 2, LEFT_ARM_ = 3, RIGHT_ARM_ = 4 }
enum	states { HOME_STATE, LOOK_STATE, DETECTION_STATE, HRI_STATE }
Private Member Functions
bool	detectOject (std::string &obj_tag)
void	follow_targetActive ()
void	follow_targetDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void	follow_targetFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void	follow_targetMakeActionRequest ()
void	hriActive ()
void	hriDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hriFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hriMakeActionRequest (const std::vector< std::string > &xml_files)
void	image_callback (const sensor_msgs::ImageConstPtr &msg)
void	loquendoActive ()
void	loquendoDone (const actionlib::SimpleClientGoalState &state, const iri_common_drivers_msgs::ttsResultConstPtr &result)
void	loquendoFeedback (const iri_common_drivers_msgs::ttsFeedbackConstPtr &feedback)
void	loquendoMakeActionRequest (const std::string &msg)
Private Attributes
states	current_state_
cv_bridge::CvImagePtr	cv_ptr
bool	cv_ptr_init
actionlib::SimpleActionClient < iri_nav_msgs::followTargetAction >	follow_target_client_
iri_nav_msgs::followTargetGoal	follow_target_goal_
bool	head_busy
bool	hri_busy
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_
CMutex	image_mutex_
image_transport::Publisher	image_pub_
image_transport::Subscriber	image_sub_
IplImage *	ipl_scaledImage
image_transport::ImageTransport	it_
actionlib::SimpleActionClient < iri_common_drivers_msgs::ttsAction >	loquendo_client_
iri_common_drivers_msgs::ttsGoal	loquendo_goal_
clsParameters	parameters
geometry_msgs::PoseStamped	PoseStamped_msg_
ros::Publisher	target_pos_publisher_
Static Private Attributes
static const unsigned int	NUM_CLIENTS = RIGHT_ARM_-TTS_+1

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file object_detection_alg_node.h.

Member Enumeration Documentation

enum ObjectDetectionAlgNode::clients [private]

Enumerator:

TTS_
LEDS_
HEAD_
LEFT_ARM_
RIGHT_ARM_

Definition at line 115 of file object_detection_alg_node.h.

enum ObjectDetectionAlgNode::states [private]

Enumerator:

HOME_STATE
LOOK_STATE
DETECTION_STATE
HRI_STATE

Definition at line 112 of file object_detection_alg_node.h.

Constructor & Destructor Documentation

ObjectDetectionAlgNode::ObjectDetectionAlgNode ( void )

Constructor.

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

Definition at line 5 of file object_detection_alg_node.cpp.

ObjectDetectionAlgNode::~ObjectDetectionAlgNode ( void )

Destructor.

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

Definition at line 47 of file object_detection_alg_node.cpp.

Member Function Documentation

void ObjectDetectionAlgNode::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< ObjectDetectionAlgorithm >.

Definition at line 462 of file object_detection_alg_node.cpp.

bool ObjectDetectionAlgNode::detectOject ( std::string & obj_tag ) [private]

Definition at line 130 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::follow_targetActive ( ) [private]

Definition at line 367 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::follow_targetDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_nav_msgs::followTargetResultConstPtr &	result
	)		`[private]`

Definition at line 355 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::follow_targetFeedback ( const iri_nav_msgs::followTargetFeedbackConstPtr & feedback ) [private]

Definition at line 372 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::follow_targetMakeActionRequest ( ) [private]

Definition at line 437 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::hriActive ( ) [private]

Definition at line 334 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::hriDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 322 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::hriFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 339 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::hriMakeActionRequest ( const std::vector< std::string > & xml_files ) [private]

Definition at line 413 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::image_callback ( const sensor_msgs::ImageConstPtr & msg ) [private]

Definition at line 267 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::loquendoActive ( ) [private]

Definition at line 301 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::loquendoDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_common_drivers_msgs::ttsResultConstPtr &	result
	)		`[private]`

Definition at line 290 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::loquendoFeedback ( const iri_common_drivers_msgs::ttsFeedbackConstPtr & feedback ) [private]

Definition at line 306 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::loquendoMakeActionRequest ( const std::string & msg ) [private]

Definition at line 395 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::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< ObjectDetectionAlgorithm >.

Definition at line 53 of file object_detection_alg_node.cpp.

void ObjectDetectionAlgNode::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< ObjectDetectionAlgorithm >.

Definition at line 455 of file object_detection_alg_node.cpp.