IRI ROS Specific Algorithm Class. More...
#include <uncalibvs_sim_alg_node.h>
IRI ROS Specific Algorithm Class.
Definition at line 52 of file uncalibvs_sim_alg_node.h.
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.
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.
void Uncalibvs_simAlgNode::model_state_callback | ( | const gazebo_msgs::ModelStates::ConstPtr & | msg | ) | [private] |
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.
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< Uncalibvs_simAlgorithm >.
Definition at line 362 of file uncalibvs_sim_alg_node.cpp.
bool Uncalibvs_simAlgNode::activate_ [private] |
Definition at line 79 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::arm_catec_ [private] |
Definition at line 79 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::arm_unina_ [private] |
Definition at line 79 of file uncalibvs_sim_alg_node.h.
double Uncalibvs_simAlgNode::dist_to_tag_ [private] |
Definition at line 80 of file uncalibvs_sim_alg_node.h.
double Uncalibvs_simAlgNode::fixed_to_id_ [private] |
Definition at line 80 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::ini_vars_ [private] |
Definition at line 72 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::init_ [private] |
Definition at line 72 of file uncalibvs_sim_alg_node.h.
CMutex Uncalibvs_simAlgNode::input_tag_mutex_ [private] |
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.
KDL::Chain Uncalibvs_simAlgNode::kdl_chain_ [private] |
Definition at line 84 of file uncalibvs_sim_alg_node.h.
double Uncalibvs_simAlgNode::lambda_ [private] |
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.
CMutex Uncalibvs_simAlgNode::model_state_mutex_ [private] |
Definition at line 64 of file uncalibvs_sim_alg_node.h.
Definition at line 62 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::mutex [private] |
Definition at line 72 of file uncalibvs_sim_alg_node.h.
int Uncalibvs_simAlgNode::num_joints_ [private] |
Definition at line 81 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::output_files_ [private] |
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.
bool Uncalibvs_simAlgNode::quadrotor_ [private] |
Definition at line 79 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::random_points_ [private] |
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.
ros::Time Uncalibvs_simAlgNode::t_ [private] |
Definition at line 76 of file uncalibvs_sim_alg_node.h.
ros::Time Uncalibvs_simAlgNode::t_old_ [private] |
Definition at line 76 of file uncalibvs_sim_alg_node.h.
bool Uncalibvs_simAlgNode::traditional_ [private] |
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.