IRI ROS Specific Algorithm Class. More...

#include <rule_learner_alg_node.h>

Inheritance diagram for RuleLearnerAlgNode:

Public Member Functions
	RuleLearnerAlgNode (void)
	Constructor.
	~RuleLearnerAlgNode (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
bool	add_actionCallback (estirabot_msgs::AddAction::Request &req, estirabot_msgs::AddAction::Response &res)
bool	add_stateCallback (estirabot_msgs::AddState::Request &req, estirabot_msgs::AddState::Response &res)
Private Attributes
CMutex	add_action_mutex_
ros::ServiceServer	add_action_server_
CMutex	add_state_mutex_
ros::ServiceServer	add_state_server_
std::vector < estirabot_msgs::DirtyArea >	dirty_areas_
ros::ServiceClient	get_state_changes_client_
estirabot_msgs::StateRepresentationChanges	get_state_changes_srv_
Symbol	last_action_
std::string	last_state_
ros::ServiceClient	learn_pasula_client_
iri_learning_msgs::LearnRulesFromTransitions	learn_pasula_srv_
bool	needs_learning_
uint	pasula_iter_
ros::Duration	pasula_time_
ros::ServiceClient	representation_to_string_client_
estirabot_msgs::RepresentationToString	representation_to_string_srv_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file rule_learner_alg_node.h.

Constructor & Destructor Documentation

RuleLearnerAlgNode::RuleLearnerAlgNode ( void )

Constructor.

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

Definition at line 3 of file rule_learner_alg_node.cpp.

RuleLearnerAlgNode::~RuleLearnerAlgNode ( void )

Destructor.

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

Definition at line 31 of file rule_learner_alg_node.cpp.

Member Function Documentation

bool RuleLearnerAlgNode::add_actionCallback	(	estirabot_msgs::AddAction::Request &	req,
		estirabot_msgs::AddAction::Response &	res
	)		`[private]`

Definition at line 150 of file rule_learner_alg_node.cpp.

bool RuleLearnerAlgNode::add_stateCallback	(	estirabot_msgs::AddState::Request &	req,
		estirabot_msgs::AddState::Response &	res
	)		`[private]`

Definition at line 132 of file rule_learner_alg_node.cpp.

void RuleLearnerAlgNode::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< RuleLearnerAlgorithm >.

Definition at line 178 of file rule_learner_alg_node.cpp.

void RuleLearnerAlgNode::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< RuleLearnerAlgorithm >.

Definition at line 36 of file rule_learner_alg_node.cpp.

void RuleLearnerAlgNode::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< RuleLearnerAlgorithm >.

Definition at line 171 of file rule_learner_alg_node.cpp.