WamArmNavigationAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <wam_arm_navigation_alg.h>

List of all members.

Public Types
typedef iri_wam_arm_navigation::WamArmNavigationConfig	Config
	define config type
Public Member Functions
void	addGoalConstraintToMoveArmGoal (const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::MoveArmGoal &move_arm_goal)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
bool	hasPose ()
void	lock (void)
	Lock Algorithm.
void	sendedPose ()
void	setPlannerRequest (arm_navigation_msgs::MoveArmGoal &goal)
	Defined Motion Request Parameters.
void	setPlannerRequestPose (arm_navigation_msgs::MoveArmGoal &goal)
	Defined Goal Constraint Parameters.
void	setTarget (const geometry_msgs::PoseStamped &pose, const std::string &nameFrame)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	WamArmNavigationAlgorithm (void)
	constructor
	~WamArmNavigationAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
std::string	frame_id_target
bool	has_pose
geometry_msgs::PoseStamped	pose_goal
Protected Attributes
CMutex	alg_mutex_
	define config type

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 44 of file wam_arm_navigation_alg.h.

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Member Typedef Documentation

typedef iri_wam_arm_navigation::WamArmNavigationConfig WamArmNavigationAlgorithm::Config

define config type

Define a Config type with the WamArmNavigationConfig. All driver implementations will then use the same variable type Config.

Definition at line 64 of file wam_arm_navigation_alg.h.

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Constructor & Destructor Documentation

WamArmNavigationAlgorithm::WamArmNavigationAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file wam_arm_navigation_alg.cpp.

WamArmNavigationAlgorithm::~WamArmNavigationAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 9 of file wam_arm_navigation_alg.cpp.

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Member Function Documentation

void WamArmNavigationAlgorithm::addGoalConstraintToMoveArmGoal	(	const arm_navigation_msgs::SimplePoseConstraint &	pose_constraint,
		arm_navigation_msgs::MoveArmGoal &	move_arm_goal
	)

Definition at line 73 of file wam_arm_navigation_alg.cpp.

void WamArmNavigationAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 13 of file wam_arm_navigation_alg.cpp.

bool WamArmNavigationAlgorithm::hasPose

(

)

Definition at line 30 of file wam_arm_navigation_alg.cpp.

void WamArmNavigationAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 89 of file wam_arm_navigation_alg.h.

void WamArmNavigationAlgorithm::sendedPose

(

)

Definition at line 34 of file wam_arm_navigation_alg.cpp.

void WamArmNavigationAlgorithm::setPlannerRequest

(

arm_navigation_msgs::MoveArmGoal &

goal

)

Defined Motion Request Parameters.

Definition at line 39 of file wam_arm_navigation_alg.cpp.

void WamArmNavigationAlgorithm::setPlannerRequestPose

(

arm_navigation_msgs::MoveArmGoal &

goal

)

Defined Goal Constraint Parameters.

Definition at line 51 of file wam_arm_navigation_alg.cpp.

void WamArmNavigationAlgorithm::setTarget	(	const geometry_msgs::PoseStamped &	pose,
		const std::string &	nameFrame
	)

Definition at line 24 of file wam_arm_navigation_alg.cpp.

bool WamArmNavigationAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 105 of file wam_arm_navigation_alg.h.

void WamArmNavigationAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 96 of file wam_arm_navigation_alg.h.

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Member Data Documentation

CMutex WamArmNavigationAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the WamArmNavigationConfig. All driver implementations will then use the same variable type Config.

Definition at line 53 of file wam_arm_navigation_alg.h.

Config WamArmNavigationAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 72 of file wam_arm_navigation_alg.h.

std::string WamArmNavigationAlgorithm::frame_id_target

Definition at line 132 of file wam_arm_navigation_alg.h.

bool WamArmNavigationAlgorithm::has_pose

Definition at line 133 of file wam_arm_navigation_alg.h.

geometry_msgs::PoseStamped WamArmNavigationAlgorithm::pose_goal

Definition at line 131 of file wam_arm_navigation_alg.h.

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

• wam_arm_navigation_alg.h
• wam_arm_navigation_alg.cpp