IRI ROS Specific Algorithm Class. More...

#include <people_follower_alg_node.h>

Inheritance diagram for PeopleFollowerAlgNode:

Public Member Functions
	PeopleFollowerAlgNode (void)
	Constructor.
	~PeopleFollowerAlgNode (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
enum	states { IDLE_STATE, REQ_MB_STATE, FOLLOWING_STATE, SUCCESS_STATE, UPDATE_STATE, PREEMPT_STATE }
Private Member Functions
void	followTargetGetFeedbackCallback (iri_nav_msgs::followTargetFeedbackPtr &feedback)
void	followTargetGetResultCallback (iri_nav_msgs::followTargetResultPtr &result)
bool	followTargetHasSucceedCallback (void)
bool	followTargetIsFinishedCallback (void)
void	followTargetStartCallback (const iri_nav_msgs::followTargetGoalConstPtr &goal)
void	followTargetStopCallback (void)
void	moveBaseActive ()
void	moveBaseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	moveBaseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	moveBaseMakeActionRequest (const move_base_msgs::MoveBaseGoal &goal)
void	target_pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
geometry_msgs::PoseStamped	current_global_target_pose_
states	current_state_
float	dist_to_goal_
CEventServer *	event_server_
std::string	fixed_frame_
std::string	follow_target_done_event_id_
IriActionServer < iri_nav_msgs::followTargetAction >	followTarget_aserver_
geometry_msgs::PoseStamped	global_target_goal_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	moveBase_client_
std::string	moveBase_done_event_id_
std::string	moveBase_preempt_event_id_
std::string	new_req_event_id_
unsigned int	no_target_pose_msg_received_
unsigned int	request_id_
std::string	target_frame_
CMutex	target_pose_mutex_
std::string	target_pose_received_event_id_
ros::Subscriber	target_pose_subscriber_
std::string	tf_prefix_
Static Private Attributes
static const unsigned int	MAX_ITERS_NO_MSG = 200

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file people_follower_alg_node.h.

Member Enumeration Documentation

enum PeopleFollowerAlgNode::states [private]

Enumerator:

IDLE_STATE
REQ_MB_STATE
FOLLOWING_STATE
SUCCESS_STATE
UPDATE_STATE
PREEMPT_STATE

Definition at line 90 of file people_follower_alg_node.h.

Constructor & Destructor Documentation

PeopleFollowerAlgNode::PeopleFollowerAlgNode ( void )

Constructor.

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

Definition at line 6 of file people_follower_alg_node.cpp.

PeopleFollowerAlgNode::~PeopleFollowerAlgNode ( void )

Destructor.

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

Definition at line 56 of file people_follower_alg_node.cpp.

Member Function Documentation

void PeopleFollowerAlgNode::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< PeopleFollowerAlgorithm >.

Definition at line 396 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::followTargetGetFeedbackCallback ( iri_nav_msgs::followTargetFeedbackPtr & feedback ) [private]

Definition at line 317 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::followTargetGetResultCallback ( iri_nav_msgs::followTargetResultPtr & result ) [private]

Definition at line 309 of file people_follower_alg_node.cpp.

bool PeopleFollowerAlgNode::followTargetHasSucceedCallback ( void ) [private]

Definition at line 295 of file people_follower_alg_node.cpp.

bool PeopleFollowerAlgNode::followTargetIsFinishedCallback ( void ) [private]

Definition at line 284 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::followTargetStartCallback ( const iri_nav_msgs::followTargetGoalConstPtr & goal ) [private]

Definition at line 265 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::followTargetStopCallback ( void ) [private]

Definition at line 277 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::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< PeopleFollowerAlgorithm >.

Definition at line 67 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::moveBaseActive ( ) [private]

Definition at line 344 of file people_follower_alg_node.cpp.

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

Definition at line 325 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::moveBaseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 349 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::moveBaseMakeActionRequest ( const move_base_msgs::MoveBaseGoal & goal ) [private]

Definition at line 367 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::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< PeopleFollowerAlgorithm >.

Definition at line 388 of file people_follower_alg_node.cpp.

void PeopleFollowerAlgNode::target_pose_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 232 of file people_follower_alg_node.cpp.