darwin_kinematics_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _darwin_kinematics_alg_node_h_
00026 #define _darwin_kinematics_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "darwin_kinematics_alg.h"
00030 #include <tf/transform_listener.h>
00031 
00032 // [publisher subscriber headers]
00033 
00034 // [service client headers]
00035 #include <kinematics_msgs/GetPositionFK.h>
00036 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00037 #include <kinematics_msgs/GetPositionIK.h>
00038 
00039 // [action server client headers]
00040 
00045 class DarwinKinematicsAlgNode : public algorithm_base::IriBaseAlgorithm<DarwinKinematicsAlgorithm>
00046 {
00047   private:
00048     // [publisher attributes]
00049 
00050     // [subscriber attributes]
00051 
00052     // [service attributes]
00053     ros::ServiceServer get_fk_server_;
00054     bool get_fkCallback(kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res);
00055     CMutex get_fk_mutex_;
00056     ros::ServiceServer get_fk_solver_info_server_;
00057     bool get_fk_solver_infoCallback(kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res);
00058     CMutex get_fk_solver_info_mutex_;
00059     ros::ServiceServer get_ik_solver_info_server_;
00060     bool get_ik_solver_infoCallback(kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res);
00061     CMutex get_ik_solver_info_mutex_;
00062     ros::ServiceServer get_ik_server_;
00063     bool get_ikCallback(kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res);
00064     CMutex get_ik_mutex_;
00065 
00066     // [client attributes]
00067 
00068     // [action server attributes]
00069 
00070     // [action client attributes]
00071 
00072     tf::TransformListener tf_listener;
00073     
00074   public:
00081     DarwinKinematicsAlgNode(void);
00082 
00089     ~DarwinKinematicsAlgNode(void);
00090 
00091   protected:
00104     void mainNodeThread(void);
00105 
00118     void node_config_update(Config &config, uint32_t level);
00119 
00126     void addNodeDiagnostics(void);
00127 
00128     // [diagnostic functions]
00129     
00130     // [test functions]
00131 };
00132 
00133 #endif


iri_darwin_kinematics
Author(s): Sergi Hernandez Juan
autogenerated on Fri Dec 6 2013 20:52:58