IRI ROS Specific Algorithm Class. More...

#include <arm_movements_by_pose_alg_node.h>

Inheritance diagram for ArmMovementsByPoseAlgNode:

Public Member Functions
	ArmMovementsByPoseAlgNode (void)
	Constructor.
	~ArmMovementsByPoseAlgNode (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
bool	clean_movementCallback (estirabot_msgs::ArmMovementsPosesSrv::Request &req, estirabot_msgs::ArmMovementsPosesSrv::Response &res)
void	get_poses_markers (std::vector< geometry_msgs::PoseStamped > poses, std::vector< uint8_t > secondary_arm)
	Get markers showing the movements.
std::vector< double >	get_wam_movement_speed ()
	gets array of vels or accs used by iri_wam_wrapper
bool	move_armMakeActionRequest (bool right_arm, arm_navigation_msgs::SimplePoseConstraint desired_pose, std::string group_name)
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)
bool	move_left_armMakeActionRequest (geometry_msgs::PoseStamped pose)
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)
bool	move_right_armMakeActionRequest (geometry_msgs::PoseStamped pose)
Private Attributes
CMutex	clean_movement_mutex_
ros::ServiceServer	clean_movement_server_
bool	fake_movements
ros::ServiceClient	get_joints_from_pose_client_
iri_wam_common_msgs::wamInverseKinematics	get_joints_from_pose_srv_
bool	log_movements
std::ofstream	logfile
visualization_msgs::MarkerArray	MarkerArray_msg_
ros::ServiceClient	move_in_joints_client_
iri_wam_common_msgs::joints_move	move_in_joints_srv_
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_
double	pitch_rotation
ros::ServiceClient	pose_move_client_
iri_wam_common_msgs::pose_move	pose_move_srv_
double	robot_movement_speed_
bool	robot_wam
double	roll_rotation
ros::Publisher	visualization_movement_markers_publisher_
ros::ServiceClient	wam_pose_move_client_
iri_wam_common_msgs::pose_move	wam_pose_move_srv_
double	yaw_rotation

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 59 of file arm_movements_by_pose_alg_node.h.

Constructor & Destructor Documentation

ArmMovementsByPoseAlgNode::ArmMovementsByPoseAlgNode ( void )

Constructor.

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

Definition at line 3 of file arm_movements_by_pose_alg_node.cpp.

ArmMovementsByPoseAlgNode::~ArmMovementsByPoseAlgNode ( void )

Destructor.

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

Definition at line 37 of file arm_movements_by_pose_alg_node.cpp.

Member Function Documentation

void ArmMovementsByPoseAlgNode::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< ArmMovementsByPoseAlgorithm >.

Definition at line 469 of file arm_movements_by_pose_alg_node.cpp.

bool ArmMovementsByPoseAlgNode::clean_movementCallback	(	estirabot_msgs::ArmMovementsPosesSrv::Request &	req,
		estirabot_msgs::ArmMovementsPosesSrv::Response &	res
	)		`[private]`

Definition at line 93 of file arm_movements_by_pose_alg_node.cpp.

void ArmMovementsByPoseAlgNode::get_poses_markers	(	std::vector< geometry_msgs::PoseStamped >	poses,
		std::vector< uint8_t >	secondary_arm
	)		`[private]`

Get markers showing the movements.

Shows markers for rviz showing the movements that the robot is going to perform

Definition at line 488 of file arm_movements_by_pose_alg_node.cpp.

std::vector< double > ArmMovementsByPoseAlgNode::get_wam_movement_speed ( ) [private]

gets array of vels or accs used by iri_wam_wrapper

Gets array of vels or accs used by iri_wam_wrapper. Returns an array containing 7 copies of robot_movement_speed_.

Definition at line 480 of file arm_movements_by_pose_alg_node.cpp.

void ArmMovementsByPoseAlgNode::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< ArmMovementsByPoseAlgorithm >.

Definition at line 44 of file arm_movements_by_pose_alg_node.cpp.

bool ArmMovementsByPoseAlgNode::move_armMakeActionRequest	(	bool	right_arm,
		arm_navigation_msgs::SimplePoseConstraint	desired_pose,
		std::string	group_name
	)		`[private]`

Definition at line 377 of file arm_movements_by_pose_alg_node.cpp.

void ArmMovementsByPoseAlgNode::move_left_armActive ( ) [private]

Definition at line 272 of file arm_movements_by_pose_alg_node.cpp.

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

Definition at line 262 of file arm_movements_by_pose_alg_node.cpp.

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

Definition at line 277 of file arm_movements_by_pose_alg_node.cpp.

bool ArmMovementsByPoseAlgNode::move_left_armMakeActionRequest ( geometry_msgs::PoseStamped pose ) [private]

Definition at line 333 of file arm_movements_by_pose_alg_node.cpp.

void ArmMovementsByPoseAlgNode::move_right_armActive ( ) [private]

Definition at line 244 of file arm_movements_by_pose_alg_node.cpp.

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

Definition at line 234 of file arm_movements_by_pose_alg_node.cpp.

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

Definition at line 249 of file arm_movements_by_pose_alg_node.cpp.

bool ArmMovementsByPoseAlgNode::move_right_armMakeActionRequest ( geometry_msgs::PoseStamped pose ) [private]

Definition at line 294 of file arm_movements_by_pose_alg_node.cpp.

void ArmMovementsByPoseAlgNode::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< ArmMovementsByPoseAlgorithm >.

Definition at line 571 of file arm_movements_by_pose_alg_node.cpp.