IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_hri_client_alg_node.h>

Inheritance diagram for TibiDaboHriClientAlgNode:

Public Member Functions
	TibiDaboHriClientAlgNode (void)
	Constructor.
	~TibiDaboHriClientAlgNode (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 Types
enum	clients { TTS_ = 0, LEDS_ = 1, HEAD_ = 2, LEFT_ARM_ = 3, RIGHT_ARM_ = 4 }
Private Member Functions
void	hriActive ()
void	hriDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hriFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hriMakeActionRequest (std::vector< std::string > &sequences)
Private Attributes
bool	hri_active
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_
tibi_dabo_msgs::sequenceGoal	hri_goal_
bool	sendRequest
std::vector< std::string >	sequences
bool	stopRequest
Static Private Attributes
static const int	NUM_CLIENTS = RIGHT_ARM_-TTS_+1

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file tibi_dabo_hri_client_alg_node.h.

Member Enumeration Documentation

enum TibiDaboHriClientAlgNode::clients [private]

Enumerator:

TTS_
LEDS_
HEAD_
LEFT_ARM_
RIGHT_ARM_

Definition at line 65 of file tibi_dabo_hri_client_alg_node.h.

Constructor & Destructor Documentation

TibiDaboHriClientAlgNode::TibiDaboHriClientAlgNode ( void )

Constructor.

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

Definition at line 3 of file tibi_dabo_hri_client_alg_node.cpp.

TibiDaboHriClientAlgNode::~TibiDaboHriClientAlgNode ( void )

Destructor.

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

Definition at line 30 of file tibi_dabo_hri_client_alg_node.cpp.

Member Function Documentation

void TibiDaboHriClientAlgNode::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< TibiDaboHriClientAlgorithm >.

Definition at line 183 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::hriActive ( ) [private]

Definition at line 74 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::hriDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 63 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::hriFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 79 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::hriMakeActionRequest ( std::vector< std::string > & sequences ) [private]

Definition at line 97 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::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< TibiDaboHriClientAlgorithm >.

Definition at line 35 of file tibi_dabo_hri_client_alg_node.cpp.

void TibiDaboHriClientAlgNode::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< TibiDaboHriClientAlgorithm >.

Definition at line 131 of file tibi_dabo_hri_client_alg_node.cpp.