IRI ROS Specific Algorithm Class. More...

#include <uncalibvs_sim_alg_node.h>

Inheritance diagram for Uncalibvs_simAlgNode:

Public Member Functions
	Uncalibvs_simAlgNode (void)
	Constructor.
	~Uncalibvs_simAlgNode (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	model_state_callback (const gazebo_msgs::ModelStates::ConstPtr &msg)
Private Attributes
bool	activate_
bool	arm_catec_
bool	arm_unina_
double	dist_to_tag_
double	fixed_to_id_
bool	ini_vars_
bool	init_
CMutex	input_tag_mutex_
ros::Subscriber	input_tag_subscriber_
ros::Publisher	joints_pub_publisher_
sensor_msgs::JointState	JointState_msg_
KDL::Chain	kdl_chain_
double	lambda_
Eigen::MatrixXf	lambda_robot_
CMutex	model_state_mutex_
ros::Subscriber	model_state_subscriber_
bool	mutex
int	num_joints_
bool	output_files_
ros::Publisher	output_publisher_
ros::Publisher	output_publisher_pose_
std::string	path_
geometry_msgs::Pose	pose_
Eigen::MatrixXf	q_
bool	quadrotor_
bool	random_points_
Eigen::Matrix3f	Rquad_inertial_
ros::Time	t_
ros::Time	t_old_
bool	traditional_
geometry_msgs::Twist	Twist_msg_
geometry_msgs::Twist	twist_quad_
Uncalibvs_simAlgorithm	uncalib_vs_sim_alg

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file uncalibvs_sim_alg_node.h.

Constructor & Destructor Documentation

Uncalibvs_simAlgNode::Uncalibvs_simAlgNode ( void )

Constructor.

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

Definition at line 5 of file uncalibvs_sim_alg_node.cpp.

Uncalibvs_simAlgNode::~Uncalibvs_simAlgNode ( void )

Destructor.

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

Definition at line 74 of file uncalibvs_sim_alg_node.cpp.

Member Function Documentation

void Uncalibvs_simAlgNode::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< Uncalibvs_simAlgorithm >.

Definition at line 389 of file uncalibvs_sim_alg_node.cpp.

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

Definition at line 121 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::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< Uncalibvs_simAlgorithm >.

Definition at line 79 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::model_state_callback ( const gazebo_msgs::ModelStates::ConstPtr & msg ) [private]

Definition at line 92 of file uncalibvs_sim_alg_node.cpp.

void Uncalibvs_simAlgNode::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< Uncalibvs_simAlgorithm >.

Definition at line 362 of file uncalibvs_sim_alg_node.cpp.