IRI ROS Specific Driver Class. More...

#include <wam_actions.h>

Public Member Functions
bool	drop ()
bool	drop (double x, double y, double z)
bool	flip ()
bool	fold ()
bool	fromAtoB ()
bool	fromBtoA ()
bool	isograsp ()
void	mainLoop (void)
	main node thread
bool	peggrasp ()
bool	requestGraspingPoint (double &x, double &y, double &z, int zone=ANYZONE, int filterID=ALLFILTERS)
bool	requestGraspingPointMaxHeight (double &x, double &y, double &z, int zone=ANYZONE, int filterID=ALLFILTERS)
bool	shake ()
bool	stretch ()
bool	take3D (double x, double y, double z)
bool	take3Dside (double x, double y, double z)
	WamActions ()
	constructor
Private Member Functions
bool	check_box (double x, double y, double z)
bool	fit_box (double &x, double &y, double &z)
void	get_destination (int destination_zone, double &x, double &y, double &z)
bool	go_to (double x, double y, double z)
bool	go_to_kinect ()
bool	wam_actionCallback (iri_wam_common_msgs::wamaction::Request &req, iri_wam_common_msgs::wamaction::Response &res)
Private Attributes
ros::ServiceClient	barrett_hand_cmd_client
iri_wam_common_msgs::bhand_cmd	barrett_hand_cmd_srv
int	destination_counter
ros::NodeHandle	node_handle_
ros::ServiceClient	obj_filter_client
iri_wam_common_msgs::compute_obj_grasp_pose	obj_filter_srv
ros::ServiceClient	pose_move_client
iri_wam_common_msgs::pose_move	pose_move_srv
geometry_msgs::Pose	sampleposes [NUMPOSES]
tf::TransformBroadcaster	tf_br
CMutex	tf_broadcaster_mutex
tf::TransformListener	tf_grasp
tf::Transform	transform_grasping_point
std::string	wam0_
ros::ServiceServer	wam_action_server

Detailed Description

IRI ROS Specific Driver Class.

IMPORTANT NOTE: This code has been generated through a script from the iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness of the scripts. ROS topics can be easly add by using those scripts. Please refer to the IRI Wiki page for more information: http://wikiri.upc.es/index.php/Robotics_Lab

This class inherits from the IRI Base class CIriNode<CIriDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any CIriDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class CIriNode. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 87 of file wam_actions.h.

Constructor & Destructor Documentation

WamActions::WamActions ( )

constructor

This constructor mainly creates and initializes the WamActions topics through the given NodeHandle object. CIriNode attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 5 of file wam_actions.cpp.

Member Function Documentation

bool WamActions::check_box	(	double	x,
		double	y,
		double	z
	)		`[private]`

Definition at line 304 of file wam_actions.cpp.

bool WamActions::drop ( )

Definition at line 569 of file wam_actions.cpp.

bool WamActions::drop	(	double	x,
		double	y,
		double	z
	)

Definition at line 581 of file wam_actions.cpp.

bool WamActions::fit_box	(	double &	x,
		double &	y,
		double &	z
	)		`[private]`

Definition at line 308 of file wam_actions.cpp.

bool WamActions::flip ( )

Definition at line 611 of file wam_actions.cpp.

bool WamActions::fold ( )

Definition at line 606 of file wam_actions.cpp.

bool WamActions::fromAtoB ( )

bool WamActions::fromBtoA ( )

void WamActions::get_destination	(	int	destination_zone,
		double &	x,
		double &	y,
		double &	z
	)		`[private]`

Definition at line 616 of file wam_actions.cpp.

bool WamActions::go_to	(	double	x,
		double	y,
		double	z
	)		`[private]`

Definition at line 327 of file wam_actions.cpp.

bool WamActions::go_to_kinect ( ) [private]

Definition at line 352 of file wam_actions.cpp.

bool WamActions::isograsp ( )

void WamActions::mainLoop ( void )

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned my 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.

Definition at line 33 of file wam_actions.cpp.

bool WamActions::peggrasp ( )