IRI ROS Specific Algorithm Class. More...
#include <tibi_dabo_conversation_alg_node.h>
IRI ROS Specific Algorithm Class.
Definition at line 46 of file tibi_dabo_conversation_alg_node.h.
enum TibiDaboConversationAlgNode::clients [private] |
Definition at line 82 of file tibi_dabo_conversation_alg_node.h.
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 4 of file tibi_dabo_conversation_alg_node.cpp.
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 37 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::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< TibiDaboConversationAlgorithm >.
Definition at line 277 of file tibi_dabo_conversation_alg_node.cpp.
bool TibiDaboConversationAlgNode::conversationCallback | ( | tibi_dabo_conversation::conversation::Request & | req, |
tibi_dabo_conversation::conversation::Response & | res | ||
) | [private] |
Definition at line 142 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::hriActive | ( | ) | [private] |
Definition at line 214 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::hriDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::sequenceResultConstPtr & | result | ||
) | [private] |
Definition at line 184 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::hriFeedback | ( | const tibi_dabo_msgs::sequenceFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 219 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::hriMakeActionRequest | ( | std::vector< std::string > & | sequences | ) | [private] |
Definition at line 237 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::joy_callback | ( | const sensor_msgs::Joy::ConstPtr & | joy_msg | ) | [private] |
Definition at line 86 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::loadSentences | ( | ) | [private] |
Definition at line 331 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::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< TibiDaboConversationAlgorithm >.
Definition at line 42 of file tibi_dabo_conversation_alg_node.cpp.
void TibiDaboConversationAlgNode::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< TibiDaboConversationAlgorithm >.
Definition at line 270 of file tibi_dabo_conversation_alg_node.cpp.
int TibiDaboConversationAlgNode::useExtraButton | ( | const unsigned int & | index | ) | [private] |
Definition at line 287 of file tibi_dabo_conversation_alg_node.cpp.
std::vector<std::string> TibiDaboConversationAlgNode::button_files_ [private] |
Definition at line 78 of file tibi_dabo_conversation_alg_node.h.
int TibiDaboConversationAlgNode::buttonIndex [private] |
Definition at line 76 of file tibi_dabo_conversation_alg_node.h.
Definition at line 62 of file tibi_dabo_conversation_alg_node.h.
CMutex TibiDaboConversationAlgNode::conversation_mutex_ [private] |
Definition at line 59 of file tibi_dabo_conversation_alg_node.h.
Definition at line 57 of file tibi_dabo_conversation_alg_node.h.
Definition at line 63 of file tibi_dabo_conversation_alg_node.h.
Definition at line 81 of file tibi_dabo_conversation_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> TibiDaboConversationAlgNode::hri_client_ [private] |
Definition at line 68 of file tibi_dabo_conversation_alg_node.h.
Definition at line 69 of file tibi_dabo_conversation_alg_node.h.
int TibiDaboConversationAlgNode::index [private] |
Definition at line 86 of file tibi_dabo_conversation_alg_node.h.
CMutex TibiDaboConversationAlgNode::joy_mutex_ [private] |
Definition at line 54 of file tibi_dabo_conversation_alg_node.h.
Definition at line 52 of file tibi_dabo_conversation_alg_node.h.
const int TibiDaboConversationAlgNode::NUM_CLIENTS = RIGHT_ARM_-TTS_+1 [static, private] |
Definition at line 83 of file tibi_dabo_conversation_alg_node.h.
std::vector<int> TibiDaboConversationAlgNode::prev_buttons_ [private] |
Definition at line 77 of file tibi_dabo_conversation_alg_node.h.
std::string TibiDaboConversationAlgNode::robot [private] |
Definition at line 75 of file tibi_dabo_conversation_alg_node.h.
std::vector<std::vector<std::string> > TibiDaboConversationAlgNode::sentences [private] |
Definition at line 85 of file tibi_dabo_conversation_alg_node.h.
std::vector<std::string> TibiDaboConversationAlgNode::sequences [private] |
Definition at line 79 of file tibi_dabo_conversation_alg_node.h.