IRI ROS Specific Algorithm Class. More...

#include <pose_based_vs_alg_node.h>

Inheritance diagram for PoseBasedVsAlgNode:

Public Member Functions
	PoseBasedVsAlgNode (void)
	Constructor.
	~PoseBasedVsAlgNode (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	input_ARtag_callback (const ar_pose::ARMarkers::ConstPtr &msg)
Private Attributes
std::vector< double >	cam_vel_
ros::Publisher	cmd_vel_cov_publisher_
std::vector< double >	current_pose_
std::vector< double >	desired_pose_
double	dt_
double	i_lim_
CMutex	input_ARtag_mutex_
ros::Subscriber	input_ARtag_subscriber_
std::vector< double >	kd_
std::vector< double >	ki_
std::vector< double >	kp_
PoseBasedVsAlgorithm	pose_based_vs_alg_
ros::Time	time_
ros::Time	time_last_
geometry_msgs::TwistWithCovariance	TwistWC_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file pose_based_vs_alg_node.h.

Constructor & Destructor Documentation

PoseBasedVsAlgNode::PoseBasedVsAlgNode ( void )

Constructor.

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

Definition at line 3 of file pose_based_vs_alg_node.cpp.

PoseBasedVsAlgNode::~PoseBasedVsAlgNode ( void )

Destructor.

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

Definition at line 33 of file pose_based_vs_alg_node.cpp.

Member Function Documentation

void PoseBasedVsAlgNode::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< PoseBasedVsAlgorithm >.

Definition at line 171 of file pose_based_vs_alg_node.cpp.

void PoseBasedVsAlgNode::input_ARtag_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Definition at line 52 of file pose_based_vs_alg_node.cpp.

void PoseBasedVsAlgNode::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< PoseBasedVsAlgorithm >.

Definition at line 38 of file pose_based_vs_alg_node.cpp.

void PoseBasedVsAlgNode::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< PoseBasedVsAlgorithm >.

Definition at line 137 of file pose_based_vs_alg_node.cpp.