#include <nao.h>

Inheritance diagram for Nao:

Public Member Functions
void	brokerDisconnected (const string &event_name, const string &broker_name, const string &subscriber_identifier)
void	commandVelocity (const geometry_msgs::TwistConstPtr &msg)
bool	connect (const ros::NodeHandle nh)
bool	connected ()
void	controllerLoop ()
void	DCMAliasTimedCommand (const string &alias, const vector< float > &values, const vector< int > &timeOffsets, const string &type="Merge", const string &type2="time-mixed")
void	DCMTimedCommand (const string &key, const AL::ALValue &value, const int &timeOffset, const string &type="Merge")
void	declareEvent (const string &name)
void	disconnect ()
AL::ALValue	getDataFromMemory (const string &key)
void	highCommunicationLoop ()
bool	initialize ()
bool	initializeControllers (controller_manager::ControllerManager &cm)
void	insertDataToMemory (const string &key, const AL::ALValue &value)
void	loadParams ()
void	lowCommunicationLoop ()
	Nao (boost::shared_ptr< AL::ALBroker > broker, const std::string &name)
void	publishBaseFootprint (const ros::Time &ts)
void	raiseEvent (const string &name, const AL::ALValue &value)
void	raiseMicroEvent (const string &name, const AL::ALValue &value)
void	readJoints ()
void	run ()
void	subscribe ()
void	subscribeToEvent (const std::string &name, const std::string &callback_module, const std::string &callback_method)
void	subscribeToMicroEvent (const std::string &name, const std::string &callback_module, const std::string &callback_method, const string &callback_message="")
bool	switchStiffnesses (nao_dcm_msgs::BoolService::Request &req, nao_dcm_msgs::BoolService::Response &res)
void	unsubscribeFromEvent (const string &name, const string &callback_module)
void	unsubscribeFromMicroEvent (const string &name, const string &callback_module)
void	writeJoints ()
	~Nao ()
Private Attributes
tf::TransformBroadcaster	base_footprint_broadcaster_
tf::TransformListener	base_footprint_listener_
string	body_type_
ros::Subscriber	cmd_vel_sub_
AL::ALValue	commands_
double	controller_freq_
AL::DCMProxy	dcm_proxy_
double	high_freq_
bool	is_connected_
hardware_interface::PositionJointInterface	jnt_pos_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
vector< double >	joint_angles_
vector< double >	joint_commands_
vector< double >	joint_efforts_
vector< string >	joint_names_
double	joint_precision_
vector< string >	joint_temperature_names_
vector< double >	joint_velocities_
vector< string >	joints_names_
double	low_freq_
controller_manager::ControllerManager *	manager_
AL::ALMemoryProxy	memory_proxy_
ros::NodeHandle	node_handle_
int	number_of_joints_
string	odom_frame_
string	prefix_
std_msgs::Float32	stiffness_
ros::Publisher	stiffness_pub_
ros::ServiceServer	stiffness_switch_
bool	stiffnesses_enabled_
int	topic_queue_
string	version_

Detailed Description

Definition at line 75 of file nao.h.

Constructor & Destructor Documentation

Nao::Nao	(	boost::shared_ptr< AL::ALBroker >	broker,
		const std::string &	name
	)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 29 of file nao.cpp.

Nao::~Nao ( )

Definition at line 38 of file nao.cpp.

Member Function Documentation

void Nao::brokerDisconnected	(	const string &	event_name,
		const string &	broker_name,
		const string &	subscriber_identifier
	)

Definition at line 286 of file nao.cpp.

void Nao::commandVelocity ( const geometry_msgs::TwistConstPtr & msg )

Definition at line 546 of file nao.cpp.

bool Nao::connect ( const ros::NodeHandle nh )

Definition at line 184 of file nao.cpp.

bool Nao::connected ( )

Definition at line 541 of file nao.cpp.

void Nao::controllerLoop ( )

Definition at line 500 of file nao.cpp.

void Nao::DCMAliasTimedCommand	(	const string &	alias,
		const vector< float > &	values,
		const vector< int > &	timeOffsets,
		const string &	type = `"Merge"`,
		const string &	type2 = `"time-mixed"`
	)

Definition at line 315 of file nao.cpp.

void Nao::DCMTimedCommand	(	const string &	key,
		const AL::ALValue &	value,
		const int &	timeOffset,
		const string &	type = `"Merge"`
	)

Definition at line 292 of file nao.cpp.

void Nao::declareEvent ( const string & name )

Definition at line 428 of file nao.cpp.

void Nao::disconnect ( )

Definition at line 242 of file nao.cpp.

AL::ALValue Nao::getDataFromMemory ( const string & key )

Definition at line 350 of file nao.cpp.

void Nao::highCommunicationLoop ( )

bool Nao::initialize ( )

Definition at line 44 of file nao.cpp.

bool Nao::initializeControllers ( controller_manager::ControllerManager & cm )

Definition at line 145 of file nao.cpp.

void Nao::insertDataToMemory	(	const string &	key,
		const AL::ALValue &	value
	)

Definition at line 345 of file nao.cpp.

void Nao::loadParams ( )

Definition at line 268 of file nao.cpp.

void Nao::lowCommunicationLoop ( )

void Nao::publishBaseFootprint ( const ros::Time & ts )

Definition at line 552 of file nao.cpp.

void Nao::raiseEvent	(	const string &	name,
		const AL::ALValue &	value
	)

Definition at line 404 of file nao.cpp.

void Nao::raiseMicroEvent	(	const string &	name,
		const AL::ALValue &	value
	)

Definition at line 416 of file nao.cpp.

void Nao::readJoints ( )

Definition at line 595 of file nao.cpp.

void Nao::run ( )

Definition at line 440 of file nao.cpp.

void Nao::subscribe ( )

Definition at line 257 of file nao.cpp.

void Nao::subscribeToEvent	(	const std::string &	name,
		const std::string &	callback_module,
		const std::string &	callback_method
	)

Definition at line 355 of file nao.cpp.

void Nao::subscribeToMicroEvent	(	const std::string &	name,
		const std::string &	callback_module,
		const std::string &	callback_method,
		const string &	callback_message = `""`
	)