IRI ROS Specific Algorithm Class. More...

#include <force_navigation_alg_node.h>

Inheritance diagram for ForceNavigationAlgNode:

Public Member Functions
	ForceNavigationAlgNode (void)
	Constructor.
	~ForceNavigationAlgNode (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	clear_force_markers ()
void	init_node ()
void	move_robotActive ()
void	move_robotDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_robotFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	move_robotMakeActionRequest ()
void	tracks_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
void	vis_destinations ()
void	vis_trajectories ()
Private Attributes
visualization_msgs::Marker	dest_marker_
string	destination_map_path_
ros::Publisher	destinations_publisher_
std_msgs::Float64MultiArray	Float64_msg_
visualization_msgs::Marker	force_goal2_marker_
visualization_msgs::Marker	force_goal_marker_
visualization_msgs::Marker	force_int_person_marker_
visualization_msgs::Marker	force_int_robot_marker_
string	force_map_path_
visualization_msgs::Marker	force_marker_
Cforce_navigation	force_navigation_
visualization_msgs::Marker	force_obstacle_laser_marker_
visualization_msgs::Marker	force_obstacle_map_marker_
ros::Publisher	forces_publisher_
visualization_msgs::MarkerArray	MarkerArray_destinations_msg_
visualization_msgs::MarkerArray	MarkerArray_forces_msg_
visualization_msgs::MarkerArray	MarkerArray_trajectories_msg_
bool	move_base_mode_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_robot_client_
move_base_msgs::MoveBaseGoal	move_robot_goal_
ros::Publisher	navigation_work_publisher_
geometry_msgs::PoseStamped	PoseStamped_msg_
Spose	robot_desired_position_
std::string	robot_frame_
visualization_msgs::Marker	robot_marker_
bool	robot_sim_
ros::Publisher	robot_simulated_pose_publisher_
bool	robot_stop_
double	robot_x_ini_
double	robot_y_ini_
std::string	target_frame_
visualization_msgs::Marker	target_marker_
visualization_msgs::Marker	text_marker_
tf::TransformListener	tf_listener_
tf::TransformListener	tf_main_
CMutex	tracks_mutex_
ros::Subscriber	tracks_subscriber_
visualization_msgs::Marker	traj_marker_
visualization_msgs::Marker	traj_robot_marker_
ros::Publisher	trajectories_publisher_
geometry_msgs::Twist	Twist_msg_
ros::Publisher	velocity_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 51 of file force_navigation_alg_node.h.

Constructor & Destructor Documentation

ForceNavigationAlgNode::ForceNavigationAlgNode ( void )

Constructor.

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

Definition at line 3 of file force_navigation_alg_node.cpp.

ForceNavigationAlgNode::~ForceNavigationAlgNode ( void )

Destructor.

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

Definition at line 40 of file force_navigation_alg_node.cpp.

Member Function Documentation

void ForceNavigationAlgNode::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< ForceNavigationAlgorithm >.

Definition at line 758 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::clear_force_markers ( ) [private]

Definition at line 498 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::init_node ( void ) [private]

Definition at line 157 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::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< ForceNavigationAlgorithm >.

Definition at line 45 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::move_robotActive ( ) [private]

Definition at line 669 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::move_robotDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 659 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::move_robotFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 674 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::move_robotMakeActionRequest ( ) [private]

Definition at line 692 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::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< ForceNavigationAlgorithm >.

Definition at line 715 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::tracks_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 591 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::vis_destinations ( ) [private]

Definition at line 509 of file force_navigation_alg_node.cpp.

void ForceNavigationAlgNode::vis_trajectories ( ) [private]

Definition at line 319 of file force_navigation_alg_node.cpp.