IRI ROS Specific Algorithm Class. More...

#include <place_alg_node.h>

Inheritance diagram for PlaceAlgNode:

Public Member Functions
	PlaceAlgNode (void)
	Constructor.
	~PlaceAlgNode (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	placeGetFeedbackCallback (object_manipulation_msgs::PlaceFeedbackPtr &feedback)
void	placeGetResultCallback (object_manipulation_msgs::PlaceResultPtr &result)
bool	placeHasSucceedCallback (void)
bool	placeIsFinishedCallback (void)
void	placeStartCallback (const object_manipulation_msgs::PlaceGoalConstPtr &goal)
void	placeStopCallback (void)
Private Attributes
ros::ServiceClient	bhand_cmd_client_
iri_wam_common_msgs::bhand_cmd	bhand_cmd_srv_
ros::ServiceClient	get_tcp_ik_client_
iri_wam_common_msgs::wamInverseKinematics	get_tcp_ik_srv_
ros::ServiceClient	joints_move_client_
iri_wam_common_msgs::joints_move	joints_move_srv_
bool	last_place_action_success_
int	place_action_status_
bool	place_action_success_
IriActionServer < object_manipulation_msgs::PlaceAction >	place_aserver_
std::string	place_pose_frame_id_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 54 of file place_alg_node.h.

Constructor & Destructor Documentation

PlaceAlgNode::PlaceAlgNode ( void )

Constructor.

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

Definition at line 3 of file place_alg_node.cpp.

PlaceAlgNode::~PlaceAlgNode ( void )

Destructor.

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

Definition at line 36 of file place_alg_node.cpp.

Member Function Documentation

void PlaceAlgNode::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< PlaceAlgorithm >.

Definition at line 239 of file place_alg_node.cpp.

void PlaceAlgNode::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< PlaceAlgorithm >.

Definition at line 41 of file place_alg_node.cpp.

void PlaceAlgNode::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< PlaceAlgorithm >.

Definition at line 228 of file place_alg_node.cpp.

void PlaceAlgNode::placeGetFeedbackCallback ( object_manipulation_msgs::PlaceFeedbackPtr & feedback ) [private]

Definition at line 218 of file place_alg_node.cpp.

void PlaceAlgNode::placeGetResultCallback ( object_manipulation_msgs::PlaceResultPtr & result ) [private]

Definition at line 206 of file place_alg_node.cpp.

bool PlaceAlgNode::placeHasSucceedCallback ( void ) [private]

Definition at line 187 of file place_alg_node.cpp.

bool PlaceAlgNode::placeIsFinishedCallback ( void ) [private]

Definition at line 172 of file place_alg_node.cpp.

void PlaceAlgNode::placeStartCallback ( const object_manipulation_msgs::PlaceGoalConstPtr & goal ) [private]

Definition at line 97 of file place_alg_node.cpp.