Wrapper class for FootstepPlanner, providing callbacks for the node functionality. More...

#include <footstep_planner_node.h>

Public Member Functions
	FootstepPlannerNode ()

virtual void	initialize (ros::NodeHandle &nh)

virtual void	initPlugins (ros::NodeHandle &nh)

virtual	~FootstepPlannerNode ()

Protected Member Functions
void	goalPoseCallback (const geometry_msgs::PoseStampedConstPtr &goal_pose)

void	planningFeedbackActionCallback (const msgs::PlanningFeedback &feedback, SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)

void	planningFeedbackCallback (const msgs::PlanningFeedback &feedback)

void	planningPreemptionActionCallback (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)

void	planningResultActionCallback (const msgs::StepPlanRequestService::Response &resp, SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)

void	planningResultCallback (const msgs::StepPlanRequestService::Response &resp)

void	setParams (const std_msgs::StringConstPtr &params_name)

void	stepPlanRequest (const msgs::StepPlanRequestConstPtr &plan_request)

void	stepPlanRequestAction (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)

void	stepPlanRequestPreempt (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)

bool	stepPlanRequestService (msgs::StepPlanRequestService::Request &req, msgs::StepPlanRequestService::Response &resp)

void	updateFeetAction (SimpleActionServer< msgs::UpdateFeetAction >::Ptr &as)

bool	updateFeetService (msgs::UpdateFeetService::Request &req, msgs::UpdateFeetService::Response &resp)

void	updateFootAction (SimpleActionServer< msgs::UpdateFootAction >::Ptr &as)

bool	updateFootService (msgs::UpdateFootService::Request &req, msgs::UpdateFootService::Response &resp)

void	updateStepPlanAction (SimpleActionServer< msgs::UpdateStepPlanAction >::Ptr &as)

bool	updateStepPlanService (msgs::UpdateStepPlanService::Request &req, msgs::UpdateStepPlanService::Response &resp)

Protected Attributes
ros::Publisher	error_status_pub

ros::Publisher	feedback_pub

geometry_msgs::Vector3	foot_size

FootstepPlanner::Ptr	footstep_planner

ros::ServiceClient	generate_feet_pose_client

ros::Subscriber	goal_pose_sub

ros::Subscriber	set_active_parameter_set_sub

ros::Publisher	step_plan_pub

SimpleActionServer< msgs::StepPlanRequestAction >::Ptr	step_plan_request_as

boost::recursive_mutex	step_plan_request_as_mutex

ros::ServiceServer	step_plan_request_srv

ros::Subscriber	step_plan_request_sub

ros::Publisher	step_plan_request_vis_pub

ros::Publisher	step_plan_vis_pub

ros::Publisher	temp_step_plan_pub

SimpleActionServer< msgs::UpdateFeetAction >::Ptr	update_feet_as

ros::ServiceServer	update_feet_srv

SimpleActionServer< msgs::UpdateFootAction >::Ptr	update_foot_as

ros::ServiceServer	update_foot_srv

SimpleActionServer< msgs::UpdateStepPlanAction >::Ptr	update_step_plan_as

ros::ServiceServer	update_step_plan_srv

Detailed Description

Wrapper class for FootstepPlanner, providing callbacks for the node functionality.

Definition at line 53 of file footstep_planner_node.h.

Constructor & Destructor Documentation

vigir_footstep_planning::FootstepPlannerNode::FootstepPlannerNode ( )

Definition at line 16 of file footstep_planner_node.cpp.

vigir_footstep_planning::FootstepPlannerNode::~FootstepPlannerNode ( )

virtual

Definition at line 74 of file footstep_planner_node.cpp.

Member Function Documentation

void vigir_footstep_planning::FootstepPlannerNode::goalPoseCallback ( const geometry_msgs::PoseStampedConstPtr & goal_pose )

protected

Definition at line 194 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::initialize ( ros::NodeHandle & nh )

virtual

Definition at line 35 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::initPlugins ( ros::NodeHandle & nh )

virtual

No need to load plugin set here as it will be done in the constructor of FootstepPlanner

Definition at line 20 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningFeedbackActionCallback	(	const msgs::PlanningFeedback &	feedback,
		SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &	as
	)

protected

Definition at line 132 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningFeedbackCallback ( const msgs::PlanningFeedback & feedback )

protected

Definition at line 127 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningPreemptionActionCallback ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as )

protected

Definition at line 141 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningResultActionCallback	(	const msgs::StepPlanRequestService::Response &	resp,
		SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &	as
	)

protected

Definition at line 98 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningResultCallback ( const msgs::StepPlanRequestService::Response & resp )

protected

Definition at line 80 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::setParams ( const std_msgs::StringConstPtr & params_name )

protected

Definition at line 151 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequest ( const msgs::StepPlanRequestConstPtr & plan_request )

protected

Definition at line 163 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestAction ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as )

protected

Definition at line 299 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestPreempt ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as )

protected

Definition at line 338 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestService	(	msgs::StepPlanRequestService::Request &	req,
		msgs::StepPlanRequestService::Response &	resp
	)

protected

Definition at line 253 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateFeetAction ( SimpleActionServer< msgs::UpdateFeetAction >::Ptr & as )

protected

Definition at line 367 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateFeetService	(	msgs::UpdateFeetService::Request &	req,
		msgs::UpdateFeetService::Response &	resp
	)

protected

Definition at line 282 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateFootAction ( SimpleActionServer< msgs::UpdateFootAction >::Ptr & as )

protected

Definition at line 349 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateFootService	(	msgs::UpdateFootService::Request &	req,
		msgs::UpdateFootService::Response &	resp
	)

protected

Definition at line 275 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateStepPlanAction ( SimpleActionServer< msgs::UpdateStepPlanAction >::Ptr & as )

protected

Definition at line 385 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateStepPlanService	(	msgs::UpdateStepPlanService::Request &	req,
		msgs::UpdateStepPlanService::Response &	resp
	)

protected

Definition at line 289 of file footstep_planner_node.cpp.

Member Data Documentation

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::error_status_pub

protected

Definition at line 99 of file footstep_planner_node.h.

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::feedback_pub

protected

Definition at line 101 of file footstep_planner_node.h.

geometry_msgs::Vector3 vigir_footstep_planning::FootstepPlannerNode::foot_size

protected

Definition at line 121 of file footstep_planner_node.h.

FootstepPlanner::Ptr vigir_footstep_planning::FootstepPlannerNode::footstep_planner

protected

Definition at line 120 of file footstep_planner_node.h.

ros::ServiceClient vigir_footstep_planning::FootstepPlannerNode::generate_feet_pose_client

protected

Definition at line 104 of file footstep_planner_node.h.

ros::Subscriber vigir_footstep_planning::FootstepPlannerNode::goal_pose_sub

protected

Definition at line 93 of file footstep_planner_node.h.

ros::Subscriber vigir_footstep_planning::FootstepPlannerNode::set_active_parameter_set_sub

protected

Definition at line 91 of file footstep_planner_node.h.

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::step_plan_pub

protected

Definition at line 96 of file footstep_planner_node.h.

SimpleActionServer<msgs::StepPlanRequestAction>::Ptr vigir_footstep_planning::FootstepPlannerNode::step_plan_request_as

protected

Definition at line 113 of file footstep_planner_node.h.

boost::recursive_mutex vigir_footstep_planning::FootstepPlannerNode::step_plan_request_as_mutex

mutableprotected

Definition at line 118 of file footstep_planner_node.h.

ros::ServiceServer vigir_footstep_planning::FootstepPlannerNode::step_plan_request_srv

protected

Definition at line 107 of file footstep_planner_node.h.

ros::Subscriber vigir_footstep_planning::FootstepPlannerNode::step_plan_request_sub

protected

Definition at line 92 of file footstep_planner_node.h.

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::step_plan_request_vis_pub

protected

Definition at line 97 of file footstep_planner_node.h.

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::step_plan_vis_pub

protected

Definition at line 98 of file footstep_planner_node.h.

ros::Publisher vigir_footstep_planning::FootstepPlannerNode::temp_step_plan_pub

protected

Definition at line 100 of file footstep_planner_node.h.

SimpleActionServer<msgs::UpdateFeetAction>::Ptr vigir_footstep_planning::FootstepPlannerNode::update_feet_as

protected

Definition at line 115 of file footstep_planner_node.h.

ros::ServiceServer vigir_footstep_planning::FootstepPlannerNode::update_feet_srv

protected

Definition at line 109 of file footstep_planner_node.h.

SimpleActionServer<msgs::UpdateFootAction>::Ptr vigir_footstep_planning::FootstepPlannerNode::update_foot_as

protected

Definition at line 114 of file footstep_planner_node.h.

ros::ServiceServer vigir_footstep_planning::FootstepPlannerNode::update_foot_srv

protected

Definition at line 108 of file footstep_planner_node.h.

SimpleActionServer<msgs::UpdateStepPlanAction>::Ptr vigir_footstep_planning::FootstepPlannerNode::update_step_plan_as

protected

Definition at line 116 of file footstep_planner_node.h.

ros::ServiceServer vigir_footstep_planning::FootstepPlannerNode::update_step_plan_srv

protected

Definition at line 110 of file footstep_planner_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation