IRI ROS Specific Algorithm Class. More...

#include <grasp_actions_alg_node.h>

Inheritance diagram for GraspActionsAlgNode:

Public Member Functions
	GraspActionsAlgNode (void)
	Constructor.
	~GraspActionsAlgNode (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 Types
typedef std::vector< std::string >	FingersConfiguration
Private Member Functions
void	close_gripperActive ()
void	close_gripperDone (const actionlib::SimpleClientGoalState &state, const iri_dynamixel_gripper::closeResultConstPtr &result)
void	close_gripperFeedback (const iri_dynamixel_gripper::closeFeedbackConstPtr &feedback)
void	close_gripperMakeActionRequest ()
void	moveArm (const geometry_msgs::PoseStamped pose)
void	moveFingers (const FingersConfiguration &finger_config)
void	moveFingersBHand (const FingersConfiguration &finger_config)
void	moveFingersGripper (const FingersConfiguration &finger_config)
void	open_gripperActive ()
void	open_gripperDone (const actionlib::SimpleClientGoalState &state, const iri_dynamixel_gripper::openResultConstPtr &result)
void	open_gripperFeedback (const iri_dynamixel_gripper::openFeedbackConstPtr &feedback)
void	open_gripperMakeActionRequest ()
void	pickupGetFeedbackCallback (iri_wam_common_msgs::SimpleBhandPickUpFeedbackPtr &feedback)
void	pickupGetResultCallback (iri_wam_common_msgs::SimpleBhandPickUpResultPtr &result)
bool	pickupHasSucceedCallback (void)
bool	pickupIsFinishedCallback (void)
void	pickupStartCallback (const iri_wam_common_msgs::SimpleBhandPickUpGoalConstPtr &goal)
void	pickupStopCallback (void)
void	run_grasp_actions (const GraspPhaseSequence &actions)
Private Attributes
ros::ServiceClient	bhand_cmd_client_
actionlib::SimpleActionClient < iri_dynamixel_gripper::closeAction >	close_gripper_client_
iri_dynamixel_gripper::closeGoal	close_gripper_goal_
std::string	grasp_fingers_configuration_
GraspGenerator	grasp_generator_
ros::ServiceClient	joints_move_client_
actionlib::SimpleActionClient < iri_dynamixel_gripper::openAction >	open_gripper_client_
iri_dynamixel_gripper::openGoal	open_gripper_goal_
IriActionServer < iri_wam_common_msgs::SimpleBhandPickUpAction >	pickup_aserver_
std::string	pre_grasp_fingers_configuration_
int	status_
bool	using_bhand_
ros::ServiceClient	wam_bhand_ik_client_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 54 of file grasp_actions_alg_node.h.

Member Typedef Documentation

typedef std::vector<std::string> GraspActionsAlgNode::FingersConfiguration [private]

Definition at line 58 of file grasp_actions_alg_node.h.

Constructor & Destructor Documentation

GraspActionsAlgNode::GraspActionsAlgNode ( void )

Constructor.

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

This is the base cpp file which does not contain the main function.

Not main function here so it is reusable by the testing suite. If you are looking for the executable, see grasp_actions_alg_node.cpp

Definition at line 10 of file grasp_actions_alg_node_base.cpp.

GraspActionsAlgNode::~GraspActionsAlgNode ( void )

Destructor.

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

Definition at line 41 of file grasp_actions_alg_node_base.cpp.

Member Function Documentation

void GraspActionsAlgNode::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< GraspActionsAlgorithm >.

Definition at line 250 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::close_gripperActive ( ) [private]

Definition at line 307 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::close_gripperDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_dynamixel_gripper::closeResultConstPtr &	result
	)		`[private]`

Definition at line 300 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::close_gripperFeedback ( const iri_dynamixel_gripper::closeFeedbackConstPtr & feedback ) [private]

Definition at line 308 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::close_gripperMakeActionRequest ( ) [private]

Definition at line 271 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::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< GraspActionsAlgorithm >.

Definition at line 46 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::moveArm ( const geometry_msgs::PoseStamped pose ) [private]

Definition at line 61 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::moveFingers ( const FingersConfiguration & finger_config ) [private]

Definition at line 97 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::moveFingersBHand ( const FingersConfiguration & finger_config ) [private]

Definition at line 133 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::moveFingersGripper ( const FingersConfiguration & finger_config ) [private]

Definition at line 107 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::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< GraspActionsAlgorithm >.

Definition at line 236 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::open_gripperActive ( ) [private]

Definition at line 297 of file grasp_actions_alg_node_base.cpp.

void GraspActionsAlgNode::open_gripperDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_dynamixel_gripper::openResultConstPtr &	result
	)		`[private]`