IRI ROS Specific Algorithm Class. More...

#include <people_follower_client_alg_node.h>

Inheritance diagram for PeopleFollowerClientAlgNode:

Public Member Functions
	PeopleFollowerClientAlgNode (void)
	Constructor.
	~PeopleFollowerClientAlgNode (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	followActive ()
void	followDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void	followFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void	followMakeActionRequest ()
void	people_tracker_callback (const iri_people_tracking::peopleTrackingArray::ConstPtr &msg)
Private Attributes
bool	action_active_
actionlib::SimpleActionClient < iri_nav_msgs::followTargetAction >	follow_client_
iri_nav_msgs::followTargetGoal	follow_goal_
CMutex	people_tracker_mutex_
ros::Subscriber	people_tracker_subscriber_
geometry_msgs::PoseStamped	PoseStamped_msg_
int	target_id_
ros::Publisher	target_pos_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file people_follower_client_alg_node.h.

Constructor & Destructor Documentation

PeopleFollowerClientAlgNode::PeopleFollowerClientAlgNode ( void )

Constructor.

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

Definition at line 4 of file people_follower_client_alg_node.cpp.

PeopleFollowerClientAlgNode::~PeopleFollowerClientAlgNode ( void )

Destructor.

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

Definition at line 28 of file people_follower_client_alg_node.cpp.

Member Function Documentation

void PeopleFollowerClientAlgNode::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< PeopleFollowerClientAlgorithm >.

Definition at line 167 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::followActive ( ) [private]

Definition at line 118 of file people_follower_client_alg_node.cpp.

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

Definition at line 105 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::followFeedback ( const iri_nav_msgs::followTargetFeedbackConstPtr & feedback ) [private]

Definition at line 123 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::followMakeActionRequest ( ) [private]

Definition at line 141 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::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< PeopleFollowerClientAlgorithm >.

Definition at line 33 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::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< PeopleFollowerClientAlgorithm >.

Definition at line 160 of file people_follower_client_alg_node.cpp.

void PeopleFollowerClientAlgNode::people_tracker_callback ( const iri_people_tracking::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 47 of file people_follower_client_alg_node.cpp.