IRI ROS Specific Algorithm Class. More...

#include <darwin_kinematics_alg_node.h>

Inheritance diagram for DarwinKinematicsAlgNode:

Public Member Functions
	DarwinKinematicsAlgNode (void)
	Constructor.
	~DarwinKinematicsAlgNode (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	get_fk_solver_infoCallback (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool	get_fkCallback (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool	get_ik_solver_infoCallback (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool	get_ikCallback (kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res)
Private Attributes
CMutex	get_fk_mutex_
ros::ServiceServer	get_fk_server_
CMutex	get_fk_solver_info_mutex_
ros::ServiceServer	get_fk_solver_info_server_
CMutex	get_ik_mutex_
ros::ServiceServer	get_ik_server_
CMutex	get_ik_solver_info_mutex_
ros::ServiceServer	get_ik_solver_info_server_
tf::TransformListener	tf_listener

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file darwin_kinematics_alg_node.h.

Constructor & Destructor Documentation

DarwinKinematicsAlgNode::DarwinKinematicsAlgNode ( void )

Constructor.

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

Definition at line 3 of file darwin_kinematics_alg_node.cpp.

DarwinKinematicsAlgNode::~DarwinKinematicsAlgNode ( void )

Destructor.

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

Definition at line 27 of file darwin_kinematics_alg_node.cpp.

Member Function Documentation

void DarwinKinematicsAlgNode::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< DarwinKinematicsAlgorithm >.

Definition at line 330 of file darwin_kinematics_alg_node.cpp.

bool DarwinKinematicsAlgNode::get_fk_solver_infoCallback	(	kinematics_msgs::GetKinematicSolverInfo::Request &	req,
		kinematics_msgs::GetKinematicSolverInfo::Response &	res
	)		`[private]`

Definition at line 61 of file darwin_kinematics_alg_node.cpp.

bool DarwinKinematicsAlgNode::get_fkCallback	(	kinematics_msgs::GetPositionFK::Request &	req,
		kinematics_msgs::GetPositionFK::Response &	res
	)		`[private]`

Definition at line 46 of file darwin_kinematics_alg_node.cpp.

bool DarwinKinematicsAlgNode::get_ik_solver_infoCallback	(	kinematics_msgs::GetKinematicSolverInfo::Request &	req,
		kinematics_msgs::GetKinematicSolverInfo::Response &	res
	)		`[private]`

Definition at line 140 of file darwin_kinematics_alg_node.cpp.

bool DarwinKinematicsAlgNode::get_ikCallback	(	kinematics_msgs::GetPositionIK::Request &	req,
		kinematics_msgs::GetPositionIK::Response &	res
	)		`[private]`

Definition at line 219 of file darwin_kinematics_alg_node.cpp.

void DarwinKinematicsAlgNode::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< DarwinKinematicsAlgorithm >.

Definition at line 32 of file darwin_kinematics_alg_node.cpp.

void DarwinKinematicsAlgNode::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< DarwinKinematicsAlgorithm >.

Definition at line 323 of file darwin_kinematics_alg_node.cpp.