IRI ROS Specific Algorithm Class. More...

#include <ual_catec_alg_node.h>

Inheritance diagram for UalCatecAlgNode:

Public Member Functions
	UalCatecAlgNode (void)
	Constructor.
	~UalCatecAlgNode (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	input_tag_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void	land_actionActive ()
void	land_actionDone (const actionlib::SimpleClientGoalState &state, const catec_actions_msgs::LandResultConstPtr &result)
void	land_actionFeedback (const catec_actions_msgs::LandFeedbackConstPtr &feedback)
void	land_actionMakeActionRequest ()
string	landMessage (const catec_actions_msgs::LandResultConstPtr &result)
void	take_off_actionActive ()
void	take_off_actionDone (const actionlib::SimpleClientGoalState &state, const catec_actions_msgs::TakeOffResultConstPtr &result)
void	take_off_actionFeedback (const catec_actions_msgs::TakeOffFeedbackConstPtr &feedback)
void	take_off_actionMakeActionRequest ()
string	takeOffMessage (const catec_actions_msgs::TakeOffResultConstPtr &result)
void	ual_state_callback (const catec_msgs::UALStateStamped::ConstPtr &msg)
Private Attributes
btMatrix3x3	body_earth_rot_
ros::Publisher	control_references_rw_publisher_
catec_msgs::ControlReferenceRwStamped	ControlReferenceRwStamped_msg_
double	cruise_
double	dist_to_tag_
int	fixed_to_id_
bool	go_initial_tag_pose_
double	goal_cruise_
double	goal_x_
double	goal_y_
double	goal_yaw_
double	goal_z_
double	ini_pos_x_
double	ini_pos_y_
double	ini_pos_yaw_
double	ini_pos_z_
CMutex	input_tag_mutex_
ros::Subscriber	input_tag_subscriber_
bool	land_action_
actionlib::SimpleActionClient < catec_actions_msgs::LandAction >	land_action_client_
catec_actions_msgs::LandGoal	land_action_goal_
Eigen::MatrixXf	land_pos_
bool	land_position_fixed_
bool	land_position_ok_
bool	LandGoalSended_
ros::Time	last_t_tag_
double	marker_cruise_
geometry_msgs::Pose	pose_
double	quad_x_
double	quad_y_
double	quad_yaw_
double	quad_z_
double	seq_
ros::Time	t_
bool	tag_detected_
double	tag_x_
double	tag_y_
double	tag_yaw_
double	tag_z_
bool	take_off_action_
actionlib::SimpleActionClient < catec_actions_msgs::TakeOffAction >	take_off_action_client_
catec_actions_msgs::TakeOffGoal	take_off_action_goal_
bool	TakeOffGoalSended_
CMutex	ual_state_mutex_
ros::Subscriber	ual_state_subscriber_
double	yaw_cruise_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 59 of file ual_catec_alg_node.h.

Constructor & Destructor Documentation

UalCatecAlgNode::UalCatecAlgNode ( void )

Constructor.

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

Definition at line 32 of file ual_catec_alg_node.cpp.

UalCatecAlgNode::~UalCatecAlgNode ( void )

Destructor.

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

Definition at line 76 of file ual_catec_alg_node.cpp.

Member Function Documentation

void UalCatecAlgNode::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< UalCatecAlgorithm >.

Definition at line 464 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::input_tag_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Definition at line 229 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::land_actionActive ( ) [private]

Definition at line 342 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::land_actionDone	(	const actionlib::SimpleClientGoalState &	state,
		const catec_actions_msgs::LandResultConstPtr &	result
	)		`[private]`

Definition at line 350 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::land_actionFeedback ( const catec_actions_msgs::LandFeedbackConstPtr & feedback ) [private]

Definition at line 346 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::land_actionMakeActionRequest ( ) [private]

Definition at line 380 of file ual_catec_alg_node.cpp.

std::string UalCatecAlgNode::landMessage ( const catec_actions_msgs::LandResultConstPtr & result ) [private]

Definition at line 399 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::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< UalCatecAlgorithm >.

Definition at line 81 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::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< UalCatecAlgorithm >.

Definition at line 438 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::take_off_actionActive ( ) [private]

Definition at line 322 of file ual_catec_alg_node.cpp.

void UalCatecAlgNode::take_off_actionDone	(	const actionlib::SimpleClientGoalState &	state,
		const catec_actions_msgs::TakeOffResultConstPtr &	result
	)		`[private]`