IRI ROS Specific Algorithm Class. More...

#include <platform_teleop_alg_node.h>

Inheritance diagram for PlatformTeleopAlgNode:

Public Member Functions
	PlatformTeleopAlgNode (void)
	Constructor.
	~PlatformTeleopAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
geometry_msgs::Twist	generateTwist (void)
	generate twist
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	useAxes (const float &axe_value, const unsigned int &index)
	use button
bool	useButton (const unsigned int &index)
	use button
void	useExtraButton (const unsigned int &index)
	use extra button
Static Protected Member Functions
static bool	check_movement_axes_callback (const std::vector< float > &axes, std::vector< unsigned int > &index)
	check used axes
Private Member Functions
void	joy_callback (const sensor_msgs::Joy::ConstPtr &joy_msg)
Private Attributes
bool	check_human_
	check or not if human is alive
ros::Publisher	cmd_vel_publisher_
float	dVR_
	translational increment velocity
float	dVT_
	translational increment velocity
bool	human_is_alive_
	Tells if the human user is alive.
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
std::vector< int >	prev_axes_
	last used joystick axes
std::vector< int >	prev_buttons_
	last pressed joysting buttons
float	vR_
	rotational velocity
float	vT_
	translational velocity

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file platform_teleop_alg_node.h.

Constructor & Destructor Documentation

PlatformTeleopAlgNode::PlatformTeleopAlgNode ( void )

Constructor.

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

Definition at line 5 of file platform_teleop_alg_node.cpp.

PlatformTeleopAlgNode::~PlatformTeleopAlgNode ( void )

Destructor.

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

Definition at line 32 of file platform_teleop_alg_node.cpp.

Member Function Documentation

void PlatformTeleopAlgNode::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< PlatformTeleopAlgorithm >.

Definition at line 120 of file platform_teleop_alg_node.cpp.

bool PlatformTeleopAlgNode::check_movement_axes_callback	(	const std::vector< float > &	axes,
		std::vector< unsigned int > &	index
	)		`[static, protected]`

check used axes

This function receives a vector with the state from all joystick axes. If none of the axes has been used, returns false, otherwise returns a vector with the indexes for the used axes.

Parameters:

axes	vector with the current state of each axe
index	vector with the indexes for each used axe

Returns:: bool true if at least one axe has been updated, false otherwise

Definition at line 124 of file platform_teleop_alg_node.cpp.

geometry_msgs::Twist PlatformTeleopAlgNode::generateTwist ( void ) [protected]

generate twist

This function fills up a twist message with current translational and rotational velocities (vT, vR).

Returns:: Twist twist message with last updated state

Definition at line 142 of file platform_teleop_alg_node.cpp.

void PlatformTeleopAlgNode::joy_callback ( const sensor_msgs::Joy::ConstPtr & joy_msg ) [private]

Definition at line 50 of file platform_teleop_alg_node.cpp.

void PlatformTeleopAlgNode::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< PlatformTeleopAlgorithm >.

Definition at line 37 of file platform_teleop_alg_node.cpp.

void PlatformTeleopAlgNode::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< PlatformTeleopAlgorithm >.

Definition at line 111 of file platform_teleop_alg_node.cpp.

void PlatformTeleopAlgNode::useAxes	(	const float &	axe_value,
		const unsigned int &	index
	)		`[protected]`

use button

This function receives the value of a single axe and its index and triggers corresponding action defined.

Parameters:

axe_value	axe value
index	joystick button index

Definition at line 244 of file platform_teleop_alg_node.cpp.

bool PlatformTeleopAlgNode::useButton ( const unsigned int & index ) [protected]

use button

This function receives a single button index and updates current state according to the behavior defined. Updates velocities according to axes and calls useExtraButton for further actions with other buttons.

Parameters:

index joystick button index

Definition at line 152 of file platform_teleop_alg_node.cpp.

void PlatformTeleopAlgNode::useExtraButton ( const unsigned int & index ) [protected]

use extra button

This function receives a single button index and updates current state according to the behavior defined. Called by useButton, for pruposes beyond navigation.

Parameters:

index joystick button index

Definition at line 219 of file platform_teleop_alg_node.cpp.