IRI ROS Specific Algorithm Class. More...

#include <force_navigation_learning_alg_node.h>

Inheritance diagram for ForceNavigationLearningAlgNode:

Public Member Functions
	ForceNavigationLearningAlgNode (void)
	Constructor.
	~ForceNavigationLearningAlgNode (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	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_learning	force_navigation_
visualization_msgs::Marker	force_obstacle_laser_marker_
visualization_msgs::Marker	force_obstacle_map_marker_
ros::Publisher	forces_publisher_
ros::Publisher	learning_data_publisher_
visualization_msgs::MarkerArray	MarkerArray_destinations_msg_
visualization_msgs::MarkerArray	MarkerArray_forces_msg_
visualization_msgs::MarkerArray	MarkerArray_trajectories_msg_
geometry_msgs::PoseStamped	PoseStamped_msg_
Spose	robot_desired_position_
std::string	robot_frame_
visualization_msgs::Marker	robot_marker_
ros::Publisher	robot_simulated_pose_publisher_
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_
CMutex	tracks_mutex_
ros::Subscriber	tracks_subscriber_
visualization_msgs::Marker	traj_marker_
visualization_msgs::Marker	traj_robot_marker_
ros::Publisher	trajectories_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file force_navigation_learning_alg_node.h.

Constructor & Destructor Documentation

ForceNavigationLearningAlgNode::ForceNavigationLearningAlgNode ( 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_learning_alg_node.cpp.

ForceNavigationLearningAlgNode::~ForceNavigationLearningAlgNode ( void )

Destructor.

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

Definition at line 33 of file force_navigation_learning_alg_node.cpp.

Member Function Documentation

void ForceNavigationLearningAlgNode::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< ForceNavigationLearningAlgorithm >.

Definition at line 615 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::clear_force_markers ( ) [private]

Definition at line 435 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::init_node ( void ) [private]

Definition at line 102 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::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< ForceNavigationLearningAlgorithm >.

Definition at line 38 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::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< ForceNavigationLearningAlgorithm >.

Definition at line 599 of file force_navigation_learning_alg_node.cpp.

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

Definition at line 527 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::vis_destinations ( ) [private]

Definition at line 446 of file force_navigation_learning_alg_node.cpp.

void ForceNavigationLearningAlgNode::vis_trajectories ( ) [private]

Definition at line 256 of file force_navigation_learning_alg_node.cpp.

Member Data Documentation

visualization_msgs::Marker ForceNavigationLearningAlgNode::dest_marker_ [private]

Definition at line 64 of file force_navigation_learning_alg_node.h.

string ForceNavigationLearningAlgNode::destination_map_path_ [private]

Definition at line 92 of file force_navigation_learning_alg_node.h.

ros::Publisher ForceNavigationLearningAlgNode::destinations_publisher_ [private]

Definition at line 60 of file force_navigation_learning_alg_node.h.

std_msgs::Float64MultiArray ForceNavigationLearningAlgNode::Float64_msg_ [private]

Definition at line 53 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_goal2_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_goal_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_int_person_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_int_robot_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

string ForceNavigationLearningAlgNode::force_map_path_ [private]

Definition at line 92 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

Cforce_navigation_learning ForceNavigationLearningAlgNode::force_navigation_ [private]

Definition at line 83 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_obstacle_laser_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::force_obstacle_map_marker_ [private]

Definition at line 66 of file force_navigation_learning_alg_node.h.

ros::Publisher ForceNavigationLearningAlgNode::forces_publisher_ [private]

Definition at line 58 of file force_navigation_learning_alg_node.h.

ros::Publisher ForceNavigationLearningAlgNode::learning_data_publisher_ [private]

Definition at line 52 of file force_navigation_learning_alg_node.h.

visualization_msgs::MarkerArray ForceNavigationLearningAlgNode::MarkerArray_destinations_msg_ [private]

Definition at line 61 of file force_navigation_learning_alg_node.h.

visualization_msgs::MarkerArray ForceNavigationLearningAlgNode::MarkerArray_forces_msg_ [private]

Definition at line 59 of file force_navigation_learning_alg_node.h.

visualization_msgs::MarkerArray ForceNavigationLearningAlgNode::MarkerArray_trajectories_msg_ [private]

Definition at line 57 of file force_navigation_learning_alg_node.h.

geometry_msgs::PoseStamped ForceNavigationLearningAlgNode::PoseStamped_msg_ [private]

Definition at line 55 of file force_navigation_learning_alg_node.h.

Spose ForceNavigationLearningAlgNode::robot_desired_position_ [private]

Definition at line 91 of file force_navigation_learning_alg_node.h.

std::string ForceNavigationLearningAlgNode::robot_frame_ [private]

Definition at line 88 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::robot_marker_ [private]

Definition at line 62 of file force_navigation_learning_alg_node.h.

ros::Publisher ForceNavigationLearningAlgNode::robot_simulated_pose_publisher_ [private]

Definition at line 54 of file force_navigation_learning_alg_node.h.

double ForceNavigationLearningAlgNode::robot_x_ini_ [private]

Definition at line 90 of file force_navigation_learning_alg_node.h.

double ForceNavigationLearningAlgNode::robot_y_ini_ [private]

Definition at line 90 of file force_navigation_learning_alg_node.h.

std::string ForceNavigationLearningAlgNode::target_frame_ [private]

Definition at line 88 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::target_marker_ [private]

Definition at line 63 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::text_marker_ [private]

Definition at line 65 of file force_navigation_learning_alg_node.h.

tf::TransformListener ForceNavigationLearningAlgNode::tf_listener_ [private]

Definition at line 89 of file force_navigation_learning_alg_node.h.

CMutex ForceNavigationLearningAlgNode::tracks_mutex_ [private]

Definition at line 72 of file force_navigation_learning_alg_node.h.

ros::Subscriber ForceNavigationLearningAlgNode::tracks_subscriber_ [private]

Definition at line 70 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::traj_marker_ [private]

Definition at line 62 of file force_navigation_learning_alg_node.h.

visualization_msgs::Marker ForceNavigationLearningAlgNode::traj_robot_marker_ [private]

Definition at line 62 of file force_navigation_learning_alg_node.h.

ros::Publisher ForceNavigationLearningAlgNode::trajectories_publisher_ [private]

Definition at line 56 of file force_navigation_learning_alg_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation