Walking trajectory abstract node. More...
#include <abstract-node.hh>
Public Types | |
| typedef U | footprintRosType_t |
| ROS footprint type. | |
| typedef T | patternGenerator_t |
| pattern generatoe type | |
| typedef S | serviceRosType_t |
| ROS service type. | |
Public Member Functions | |
| AbstractNode (const std::string &rosNamespace, const std::string &frameWorldId, bool enableService=true) | |
| Constructor. | |
| AbstractNode (const std::string &rosNamespace, const std::string &frameWorldId, const patternGenerator_t &pg, bool enableService=true) | |
| Constructor copying a given pattern generator into the node. | |
| void | spin () |
| Run the node. Returns when the node is exiting. | |
| ~AbstractNode () | |
| Destructor. | |
Protected Member Functions | |
| virtual void | convertFootprint (typename patternGenerator_t::footprints_t &dst, const std::vector< footprintRosType_t > &src)=0 |
| Convert ROS footprint representation into the corresponding C++ representation. | |
| bool | getPath (typename serviceRosType_t::Request &req, typename serviceRosType_t::Response &res) |
| getPath service callback | |
| patternGenerator_t & | patternGenerator () |
| Pattern generator getter. | |
| void | prepareTopicsData (typename serviceRosType_t::Response &res, bool startWithLeftFoot) |
| Fill attributes with data which will be published. | |
| virtual void | setupPatternGenerator (typename serviceRosType_t::Request &req)=0 |
| Pattern generator specific setup. | |
| void | writeMotionAsParameter () |
| Write the motion as a parameter of the parameter server. | |
Private Attributes | |
| nav_msgs::Path | comPath_ |
| Center of mass path. | |
| ros::Publisher | comPub_ |
| Center of mass path publisher. | |
| double | footPrintHeight_ |
| Footprint height in MarkerArray (/footprints) message. | |
| visualization_msgs::MarkerArray | footprints_ |
| Marker array containing footprints data. | |
| ros::Publisher | footprintsPub_ |
| Footprints publisher. | |
| double | footPrintWidth_ |
| Footprint width in MarkerArray (/footprints) message. | |
| std::string | frameName_ |
| World frame id. | |
| ros::ServiceServer | getPathSrv_ |
| GetPath service. | |
| nav_msgs::Path | leftFootPath_ |
| Left foot path. | |
| ros::Publisher | leftFootPub_ |
| Left foot path publisher. | |
| ros::NodeHandle | nodeHandle_ |
| Main node handle. | |
| std::string | parameterName_ |
| Parameter in which the trajectory is stored. | |
| patternGenerator_t | patternGenerator_ |
| Pattern generator instance used to generate the trajectories. | |
| ros::Rate | rate_ |
| Topic publishing rate. | |
| nav_msgs::Path | rightFootPath_ |
| Right foot path. | |
| ros::Publisher | rightFootPub_ |
| Right foot path publisher. | |
| nav_msgs::Path | zmpPath_ |
| Zero Momentum point path. | |
| ros::Publisher | zmpPub_ |
| Zero Momentum Point path publisher. | |
Walking trajectory abstract node.
This class provides the skeleton of a generator node. A generator node provides the GetPath service which allows to ask remotely for walking trajectory computation.
This node also published the data as topics in order to allow their display in rviz for instance.
walking_trajectories.vcg at this package root level is a rviz configuration file which can be used to display walking trajectories.
| T | pattern generator type |
| U | ROS footprint message type |
| S | ROS service type |
Definition at line 31 of file abstract-node.hh.
| typedef U walk_msgs::AbstractNode< T, U, S >::footprintRosType_t |
ROS footprint type.
Definition at line 37 of file abstract-node.hh.
| typedef T walk_msgs::AbstractNode< T, U, S >::patternGenerator_t |
pattern generatoe type
Definition at line 35 of file abstract-node.hh.
| typedef S walk_msgs::AbstractNode< T, U, S >::serviceRosType_t |
ROS service type.
Definition at line 40 of file abstract-node.hh.
| walk_msgs::AbstractNode< T, U, S >::AbstractNode | ( | const std::string & | rosNamespace, |
| const std::string & | frameWorldId, | ||
| bool | enableService = true |
||
| ) | [explicit] |
Constructor.
| rosNamespace | namespace used to initialize the ROS handle |
| frameWorldId | frame id in which the trajectories are expressed |
| enableService | enable getPath service registration |
| walk_msgs::AbstractNode< T, U, S >::AbstractNode | ( | const std::string & | rosNamespace, |
| const std::string & | frameWorldId, | ||
| const patternGenerator_t & | pg, | ||
| bool | enableService = true |
||
| ) | [explicit] |
Constructor copying a given pattern generator into the node.
This constructor is needed when a pattern generator requires arguments during instantiation. In this case, the default constructor will not work.
| rosNamespace | namespace used to initialize the ROS handle |
| frameWorldId | frame id in which the trajectories are expressed |
| pg | pattern generator to be copied into this object |
| enableService | enable getPath service registration |
| walk_msgs::AbstractNode< T, U, S >::~AbstractNode | ( | ) |
Destructor.
| virtual void walk_msgs::AbstractNode< T, U, S >::convertFootprint | ( | typename patternGenerator_t::footprints_t & | dst, |
| const std::vector< footprintRosType_t > & | src | ||
| ) | [protected, pure virtual] |
Convert ROS footprint representation into the corresponding C++ representation.
Subclasses must implement this method.
Implemented in GeneratorYamlNode.
| bool walk_msgs::AbstractNode< T, U, S >::getPath | ( | typename serviceRosType_t::Request & | req, |
| typename serviceRosType_t::Response & | res | ||
| ) | [protected] |
getPath service callback
This fill the pattern generator with data from the request, compute the trajectories by calling the computeTrajectories method and then both put the result in a ROS parameter and publish a displayable version into various separated topics.
| req | service request (i.e. input) |
| res | service response (i.e. output) |
| patternGenerator_t& walk_msgs::AbstractNode< T, U, S >::patternGenerator | ( | ) | [inline, protected] |
Pattern generator getter.
Definition at line 109 of file abstract-node.hh.
| void walk_msgs::AbstractNode< T, U, S >::prepareTopicsData | ( | typename serviceRosType_t::Response & | res, |
| bool | startWithLeftFoot | ||
| ) | [protected] |
Fill attributes with data which will be published.
| virtual void walk_msgs::AbstractNode< T, U, S >::setupPatternGenerator | ( | typename serviceRosType_t::Request & | req | ) | [protected, pure virtual] |
Pattern generator specific setup.
Pattern generators often needs specific data to be passed or dedicated conversion to be made.
The getPath callback first fill the pattern generator with data common to all the pattern generators algorithm then calls the setupPatternGenerator method so that specific treatments can be realized.
| req | request passed to the service callback |
Implemented in GeneratorYamlNode.
| void walk_msgs::AbstractNode< T, U, S >::spin | ( | ) |
Run the node. Returns when the node is exiting.
| void walk_msgs::AbstractNode< T, U, S >::writeMotionAsParameter | ( | ) | [protected] |
Write the motion as a parameter of the parameter server.
nav_msgs::Path walk_msgs::AbstractNode< T, U, S >::comPath_ [private] |
Center of mass path.
Definition at line 153 of file abstract-node.hh.
ros::Publisher walk_msgs::AbstractNode< T, U, S >::comPub_ [private] |
Center of mass path publisher.
Definition at line 164 of file abstract-node.hh.
double walk_msgs::AbstractNode< T, U, S >::footPrintHeight_ [private] |
Footprint height in MarkerArray (/footprints) message.
Definition at line 171 of file abstract-node.hh.
visualization_msgs::MarkerArray walk_msgs::AbstractNode< T, U, S >::footprints_ [private] |
Marker array containing footprints data.
Definition at line 145 of file abstract-node.hh.
ros::Publisher walk_msgs::AbstractNode< T, U, S >::footprintsPub_ [private] |
Footprints publisher.
Definition at line 158 of file abstract-node.hh.
double walk_msgs::AbstractNode< T, U, S >::footPrintWidth_ [private] |
Footprint width in MarkerArray (/footprints) message.
Definition at line 169 of file abstract-node.hh.
std::string walk_msgs::AbstractNode< T, U, S >::frameName_ [private] |
World frame id.
All walking trajectories are expressed w.r.t this frame.
Definition at line 135 of file abstract-node.hh.
ros::ServiceServer walk_msgs::AbstractNode< T, U, S >::getPathSrv_ [private] |
GetPath service.
Definition at line 130 of file abstract-node.hh.
nav_msgs::Path walk_msgs::AbstractNode< T, U, S >::leftFootPath_ [private] |
Left foot path.
Definition at line 148 of file abstract-node.hh.
ros::Publisher walk_msgs::AbstractNode< T, U, S >::leftFootPub_ [private] |
Left foot path publisher.
Definition at line 160 of file abstract-node.hh.
ros::NodeHandle walk_msgs::AbstractNode< T, U, S >::nodeHandle_ [private] |
Main node handle.
Definition at line 124 of file abstract-node.hh.
std::string walk_msgs::AbstractNode< T, U, S >::parameterName_ [private] |
Parameter in which the trajectory is stored.
Definition at line 138 of file abstract-node.hh.
patternGenerator_t walk_msgs::AbstractNode< T, U, S >::patternGenerator_ [private] |
Pattern generator instance used to generate the trajectories.
Definition at line 142 of file abstract-node.hh.
ros::Rate walk_msgs::AbstractNode< T, U, S >::rate_ [private] |
Topic publishing rate.
Definition at line 127 of file abstract-node.hh.
nav_msgs::Path walk_msgs::AbstractNode< T, U, S >::rightFootPath_ [private] |
Right foot path.
Definition at line 150 of file abstract-node.hh.
ros::Publisher walk_msgs::AbstractNode< T, U, S >::rightFootPub_ [private] |
Right foot path publisher.
Definition at line 162 of file abstract-node.hh.
nav_msgs::Path walk_msgs::AbstractNode< T, U, S >::zmpPath_ [private] |
Zero Momentum point path.
Definition at line 155 of file abstract-node.hh.
ros::Publisher walk_msgs::AbstractNode< T, U, S >::zmpPub_ [private] |
Zero Momentum Point path publisher.
Definition at line 166 of file abstract-node.hh.