IRI ROS Specific Algorithm Class. More...

#include <darwin_autocharge_alg_node.h>

Inheritance diagram for DarwinAutochargeAlgNode:

Public Member Functions
	DarwinAutochargeAlgNode (void)
	Constructor.
	~DarwinAutochargeAlgNode (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 Member Functions
void	adc_channels_callback (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	joint_states_callback (const sensor_msgs::JointState::ConstPtr &msg)
void	marker_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void	move_jointsActive ()
void	move_jointsDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	move_jointsFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	move_jointsMakeActionRequest ()
void	move_left_armActive ()
void	move_left_armDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	move_left_armFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	move_left_armMakeActionRequest ()
void	move_right_armActive ()
void	move_right_armDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	move_right_armFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	move_right_armMakeActionRequest ()
void	tracking_headActive ()
void	tracking_headDone (const actionlib::SimpleClientGoalState &state, const iri_darwin_robot::tracking_headResultConstPtr &result)
void	tracking_headFeedback (const iri_darwin_robot::tracking_headFeedbackConstPtr &feedback)
void	tracking_headMakeActionRequest ()
Private Attributes
CMutex	adc_channels_mutex_
ros::Subscriber	adc_channels_subscriber_
bool	close_to_station
ros::Publisher	cmd_vel_publisher_
geometry_msgs::PoseStamped	conv_msg_
double	current_pan
sensor_msgs::JointState	current_state
double	current_tilt
double	current_voltage
ros::Publisher	execute_action_publisher_
bool	first_goal
std_msgs::Float64MultiArray	Float64MultiArray_msg_
ros::ServiceClient	get_ik_client_
kinematics_msgs::GetPositionIK	get_ik_srv_
bool	head_is_tracking
ros::Publisher	head_target_publisher_
std_msgs::Int32	Int32_msg_
CMutex	joint_states_mutex_
ros::Subscriber	joint_states_subscriber_
bool	joints_moving
int	k
bool	left_arm_moving
bool	left_data_ready
bool	left_done
bool	left_marker_found
bool	left_ok
geometry_msgs::PoseStamped	left_pose_
bool	left_ready_tf
int	m
geometry_msgs::PoseStamped	marker_
bool	marker_found
CMutex	marker_mutex_
bool	marker_really_founded
ros::Subscriber	marker_subscriber_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	move_joints_client_
control_msgs::FollowJointTrajectoryGoal	move_joints_goal_
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_left_arm_client_
arm_navigation_msgs::MoveArmGoal	move_left_arm_goal_
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_right_arm_client_
arm_navigation_msgs::MoveArmGoal	move_right_arm_goal_
ar_pose::ARMarkers	msg_
int	n
int	p
bool	prev_left_ok
bool	prev_right_ok
bool	ready
bool	ready_for_check
bool	right_arm_moving
bool	right_data_ready
bool	right_marker_found
bool	right_ok
geometry_msgs::PoseStamped	right_pose_
bool	right_ready_tf
TStates	state
bool	success
tf::TransformListener	tf_listener
actionlib::SimpleActionClient < iri_darwin_robot::tracking_headAction >	tracking_head_client_
iri_darwin_robot::tracking_headGoal	tracking_head_goal_
geometry_msgs::Twist	Twist_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file darwin_autocharge_alg_node.h.

Constructor & Destructor Documentation

DarwinAutochargeAlgNode::DarwinAutochargeAlgNode ( void )

Constructor.

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

Definition at line 7 of file darwin_autocharge_alg_node.cpp.

DarwinAutochargeAlgNode::~DarwinAutochargeAlgNode ( void )

Destructor.

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

Definition at line 70 of file darwin_autocharge_alg_node.cpp.

Member Function Documentation

void DarwinAutochargeAlgNode::adc_channels_callback ( const std_msgs::Float64MultiArray::ConstPtr & msg ) [private]

Definition at line 1177 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::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< DarwinAutochargeAlgorithm >.

Definition at line 1525 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::joint_states_callback ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 1191 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::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< DarwinAutochargeAlgorithm >.

Definition at line 75 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::marker_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Definition at line 1204 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_jointsActive ( ) [private]

Definition at line 1422 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_jointsDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`

Definition at line 1411 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_jointsFeedback ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & feedback ) [private]

Definition at line 1427 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_jointsMakeActionRequest ( ) [private]

Definition at line 1499 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_left_armActive ( ) [private]

Definition at line 1329 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_left_armDone	(	const actionlib::SimpleClientGoalState &	state,
		const arm_navigation_msgs::MoveArmResultConstPtr &	result
	)		`[private]`

Definition at line 1318 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_left_armFeedback ( const arm_navigation_msgs::MoveArmFeedbackConstPtr & feedback ) [private]

Definition at line 1334 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_left_armMakeActionRequest ( ) [private]

Definition at line 1445 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_right_armActive ( ) [private]

Definition at line 1361 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_right_armDone	(	const actionlib::SimpleClientGoalState &	state,
		const arm_navigation_msgs::MoveArmResultConstPtr &	result
	)		`[private]`

Definition at line 1350 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_right_armFeedback ( const arm_navigation_msgs::MoveArmFeedbackConstPtr & feedback ) [private]

Definition at line 1366 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::move_right_armMakeActionRequest ( ) [private]

Definition at line 1463 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::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< DarwinAutochargeAlgorithm >.

Definition at line 1518 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::tracking_headActive ( ) [private]

Definition at line 1392 of file darwin_autocharge_alg_node.cpp.

void DarwinAutochargeAlgNode::tracking_headDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_darwin_robot::tracking_headResultConstPtr &	result
	)		`[private]`