#include <step_controller.h>

Public Types
typedef boost::shared_ptr < const StepController >	ConstPtr
typedef boost::shared_ptr < StepController >	Ptr
Public Member Functions
void	executeStepPlan (const msgs::StepPlan &step_plan)
	Instruct the controller to execute the given step plan. If execution is already in progress, the step plan will be merged into current execution queue.
bool	initialize (ros::NodeHandle &nh, bool auto_spin=true)
	Initializes step controller.
bool	initialize (ros::NodeHandle &nh, StepControllerPlugin::Ptr step_controller_plugin, vigir_footstep_planning::StepPlanMsgPlugin::Ptr step_plan_msg_plugin, bool auto_spin=true)
	Initializes step controller.
template<typename T >
bool	loadPlugin (const std::string &plugin_name, boost::shared_ptr< T > &plugin)
	Loads plugin with specific name to be used by the controller. The name should be configured in the plugin config file and loaded to the rosparam server. The call can only succeed when currentl no exection is runnning.
	StepController (ros::NodeHandle &nh)
	StepController.
void	update (const ros::TimerEvent &event=ros::TimerEvent())
	Main update loop to be called in regular intervals.
virtual	~StepController ()
Protected Member Functions
void	executePreemptionAction (ExecuteStepPlanActionServerPtr as)
void	executeStepPlan (const msgs::StepPlanConstPtr &step_plan)
void	executeStepPlanAction (ExecuteStepPlanActionServerPtr as)
void	loadStepControllerPlugin (const std_msgs::StringConstPtr &plugin_name)
void	loadStepPlanMsgPlugin (const std_msgs::StringConstPtr &plugin_name)
	ROS API.
void	publishFeedback () const
	Publishes feedback messages of current state of execution.
Protected Attributes
boost::shared_mutex	controller_mutex_
boost::shared_ptr < ExecuteStepPlanActionServer >	execute_step_plan_as_
ros::Subscriber	execute_step_plan_sub_
ros::Publisher	feedback_pub_
ros::Subscriber	load_step_controller_plugin_sub_
ros::Subscriber	load_step_plan_msg_plugin_sub_
StepControllerPlugin::Ptr	step_controller_plugin_
vigir_footstep_planning::StepPlanMsgPlugin::Ptr	step_plan_msg_plugin_
ros::Timer	update_timer_

Detailed Description

Definition at line 52 of file step_controller.h.

Member Typedef Documentation

typedef boost::shared_ptr<const StepController> vigir_step_control::StepController::ConstPtr

Definition at line 57 of file step_controller.h.

typedef boost::shared_ptr<StepController> vigir_step_control::StepController::Ptr

Definition at line 56 of file step_controller.h.

Constructor & Destructor Documentation

vigir_step_control::StepController::StepController ( ros::NodeHandle & nh )

StepController.

Parameters:

nh	Nodehandle living in correct namespace for all services

Definition at line 9 of file step_controller.cpp.

vigir_step_control::StepController::~StepController ( ) [virtual]

Definition at line 31 of file step_controller.cpp.

Member Function Documentation

void vigir_step_control::StepController::executePreemptionAction ( ExecuteStepPlanActionServerPtr as ) [protected]

Definition at line 188 of file step_controller.cpp.

void vigir_step_control::StepController::executeStepPlan ( const msgs::StepPlan & step_plan )

Instruct the controller to execute the given step plan. If execution is already in progress, the step plan will be merged into current execution queue.

Parameters:

Step	plan to be executed

Definition at line 63 of file step_controller.cpp.

void vigir_step_control::StepController::executeStepPlan ( const msgs::StepPlanConstPtr & step_plan ) [protected]

Definition at line 167 of file step_controller.cpp.

void vigir_step_control::StepController::executeStepPlanAction ( ExecuteStepPlanActionServerPtr as ) [protected]

Definition at line 174 of file step_controller.cpp.

bool vigir_step_control::StepController::initialize	(	ros::NodeHandle &	nh,
		bool	auto_spin = `true`
	)

Initializes step controller.

Parameters:

nh	Nodehandle living in correct namespace for all parameters
auto_spin	If true, then the controller sets up it's own ros timer for calling update(...) continously.

Returns:: true, if initialization was successful

Definition at line 35 of file step_controller.cpp.

bool vigir_step_control::StepController::initialize	(	ros::NodeHandle &	nh,
		StepControllerPlugin::Ptr	step_controller_plugin,
		vigir_footstep_planning::StepPlanMsgPlugin::Ptr	step_plan_msg_plugin,
		bool	auto_spin = `true`
	)

Initializes step controller.

Parameters:

nh	Nodehandle living in correct namespace for all parameters
step_controller_plugin	Plugin interfacing the H/W layer of the robot
step_plan_msg_plugin	Plugin decoding the robot specific parameters from step msg
auto_spin	If true, then the controller sets up it's own ros timer for calling update(...) continously.

Returns:: true, if initialization was successful

Definition at line 48 of file step_controller.cpp.

template<typename T >

bool vigir_step_control::StepController::loadPlugin	(	const std::string &	plugin_name,
		boost::shared_ptr< T > &	plugin
	)		`[inline]`

Loads plugin with specific name to be used by the controller. The name should be configured in the plugin config file and loaded to the rosparam server. The call can only succeed when currentl no exection is runnning.

Parameters:

plugin_name Name of plugin

Definition at line 91 of file step_controller.h.

void vigir_step_control::StepController::loadStepControllerPlugin ( const std_msgs::StringConstPtr & plugin_name ) [protected]

Definition at line 159 of file step_controller.cpp.

void vigir_step_control::StepController::loadStepPlanMsgPlugin ( const std_msgs::StringConstPtr & plugin_name ) [protected]

ROS API.

Definition at line 151 of file step_controller.cpp.

void vigir_step_control::StepController::publishFeedback ( ) const [protected]

Publishes feedback messages of current state of execution.

Definition at line 135 of file step_controller.cpp.

void vigir_step_control::StepController::update ( const ros::TimerEvent & event = ros::TimerEvent() )