00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _object_pose_detection_alg_node_h_ 00026 #define _object_pose_detection_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "object_pose_detection_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 #include <iri_action_server/iri_action_server.h> 00037 #include <iri_perception_msgs/object_pose_detectionAction.h> 00038 00043 class ObjectPoseDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<ObjectPoseDetectionAlgorithm> 00044 { 00045 private: 00046 // [publisher attributes] 00047 00048 // [subscriber attributes] 00049 00050 // [service attributes] 00051 00052 // [client attributes] 00053 00054 // [action server attributes] 00055 IriActionServer<iri_perception_msgs::object_pose_detectionAction> obj_pose_det_aserver_; 00056 void obj_pose_detStartCallback(const iri_perception_msgs::object_pose_detectionGoalConstPtr& goal); 00057 void obj_pose_detStopCallback(void); 00058 bool obj_pose_detIsFinishedCallback(void); 00059 bool obj_pose_detHasSucceedCallback(void); 00060 void obj_pose_detGetResultCallback(iri_perception_msgs::object_pose_detectionResultPtr& result); 00061 void obj_pose_detGetFeedbackCallback(iri_perception_msgs::object_pose_detectionFeedbackPtr& feedback); 00062 00063 // [action client attributes] 00064 00065 public: 00072 ObjectPoseDetectionAlgNode(void); 00073 00080 ~ObjectPoseDetectionAlgNode(void); 00081 00082 protected: 00095 void mainNodeThread(void); 00096 00109 void node_config_update(Config &config, uint32_t level); 00110 00117 void addNodeDiagnostics(void); 00118 00119 // [diagnostic functions] 00120 00121 // [test functions] 00122 }; 00123 00124 #endif