Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
Uncalibvs_simAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <uncalibvs_sim_alg_node.h>

Inheritance diagram for Uncalibvs_simAlgNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 Uncalibvs_simAlgNode (void)
 Constructor.
 ~Uncalibvs_simAlgNode (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_tag_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void model_state_callback (const gazebo_msgs::ModelStates::ConstPtr &msg)

Private Attributes

bool activate_
bool arm_catec_
bool arm_unina_
double dist_to_tag_
double fixed_to_id_
bool ini_vars_
bool init_
CMutex input_tag_mutex_
ros::Subscriber input_tag_subscriber_
ros::Publisher joints_pub_publisher_
sensor_msgs::JointState JointState_msg_
KDL::Chain kdl_chain_
double lambda_
Eigen::MatrixXf lambda_robot_
CMutex model_state_mutex_
ros::Subscriber model_state_subscriber_
bool mutex
int num_joints_
bool output_files_
ros::Publisher output_publisher_
ros::Publisher output_publisher_pose_
std::string path_
geometry_msgs::Pose pose_
Eigen::MatrixXf q_
bool quadrotor_
bool random_points_
Eigen::Matrix3f Rquad_inertial_
ros::Time t_
ros::Time t_old_
bool traditional_
geometry_msgs::Twist Twist_msg_
geometry_msgs::Twist twist_quad_
Uncalibvs_simAlgorithm uncalib_vs_sim_alg

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file uncalibvs_sim_alg_node.h.


Constructor & Destructor Documentation

Constructor.

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

Definition at line 5 of file uncalibvs_sim_alg_node.cpp.

Destructor.

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

Definition at line 74 of file uncalibvs_sim_alg_node.cpp.


Member Function Documentation

void Uncalibvs_simAlgNode::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< Uncalibvs_simAlgorithm >.

Definition at line 389 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::input_tag_callback ( const ar_pose::ARMarkers::ConstPtr &  msg) [private]

Definition at line 121 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::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< Uncalibvs_simAlgorithm >.

Definition at line 79 of file uncalibvs_sim_alg_node.cpp.

Definition at line 92 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::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:
configan object with new configuration from all algorithm parameters defined in the config file.
levelinteger referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< Uncalibvs_simAlgorithm >.

Definition at line 362 of file uncalibvs_sim_alg_node.cpp.


Member Data Documentation

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Definition at line 80 of file uncalibvs_sim_alg_node.h.

Definition at line 80 of file uncalibvs_sim_alg_node.h.

Definition at line 72 of file uncalibvs_sim_alg_node.h.

Definition at line 72 of file uncalibvs_sim_alg_node.h.

Definition at line 66 of file uncalibvs_sim_alg_node.h.

Definition at line 67 of file uncalibvs_sim_alg_node.h.

Definition at line 56 of file uncalibvs_sim_alg_node.h.

sensor_msgs::JointState Uncalibvs_simAlgNode::JointState_msg_ [private]

Definition at line 57 of file uncalibvs_sim_alg_node.h.

Definition at line 84 of file uncalibvs_sim_alg_node.h.

Definition at line 80 of file uncalibvs_sim_alg_node.h.

Eigen::MatrixXf Uncalibvs_simAlgNode::lambda_robot_ [private]

Definition at line 85 of file uncalibvs_sim_alg_node.h.

Definition at line 64 of file uncalibvs_sim_alg_node.h.

Definition at line 62 of file uncalibvs_sim_alg_node.h.

Definition at line 72 of file uncalibvs_sim_alg_node.h.

Definition at line 81 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Definition at line 58 of file uncalibvs_sim_alg_node.h.

Definition at line 58 of file uncalibvs_sim_alg_node.h.

std::string Uncalibvs_simAlgNode::path_ [private]

Definition at line 82 of file uncalibvs_sim_alg_node.h.

Definition at line 73 of file uncalibvs_sim_alg_node.h.

Eigen::MatrixXf Uncalibvs_simAlgNode::q_ [private]

Definition at line 85 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

Eigen::Matrix3f Uncalibvs_simAlgNode::Rquad_inertial_ [private]

Definition at line 86 of file uncalibvs_sim_alg_node.h.

Definition at line 76 of file uncalibvs_sim_alg_node.h.

Definition at line 76 of file uncalibvs_sim_alg_node.h.

Definition at line 79 of file uncalibvs_sim_alg_node.h.

geometry_msgs::Twist Uncalibvs_simAlgNode::Twist_msg_ [private]

Definition at line 59 of file uncalibvs_sim_alg_node.h.

geometry_msgs::Twist Uncalibvs_simAlgNode::twist_quad_ [private]

Definition at line 74 of file uncalibvs_sim_alg_node.h.

Definition at line 70 of file uncalibvs_sim_alg_node.h.


The documentation for this class was generated from the following files:


iri_uncalibvs_sim
Author(s): Àngel Sanatamaria Navarro
autogenerated on Fri Dec 6 2013 21:57:13