IRI ROS Specific Algorithm Class. More...

#include <wam_arm_navigation_alg_node.h>

Inheritance diagram for WamArmNavigationAlgNode:

Public Member Functions
void	makeMoveMsg (arm_navigation_msgs::MoveArmGoal &goal)
	WamArmNavigationAlgNode (void)
	Constructor.
	~WamArmNavigationAlgNode (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	move_iri_wamActive ()
void	move_iri_wamDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	move_iri_wamFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	move_iri_wamMakeActionRequest (const arm_navigation_msgs::MoveArmGoal &msg)
void	simple_pose_moveGetFeedbackCallback (iri_wam_arm_navigation::SimplePoseFeedbackPtr &feedback)
void	simple_pose_moveGetResultCallback (iri_wam_arm_navigation::SimplePoseResultPtr &result)
bool	simple_pose_moveHasSucceedCallback (void)
bool	simple_pose_moveIsFinishedCallback (void)
void	simple_pose_moveStartCallback (const iri_wam_arm_navigation::SimplePoseGoalConstPtr &goal)
void	simple_pose_moveStopCallback (void)
void	simple_pose_topic_callback (const iri_wam_arm_navigation::PoseSimple::ConstPtr &msg)
Private Attributes
bool	aborted
arm_navigation_msgs::ArmNavigationErrorCodes	code_result
bool	END
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_iri_wam_client_
arm_navigation_msgs::MoveArmGoal	move_iri_wam_goal_
IriActionServer < iri_wam_arm_navigation::SimplePoseAction >	simple_pose_move_aserver_
CMutex	simple_pose_topic_mutex_
ros::Subscriber	simple_pose_topic_subscriber_
std::string	state__
std::string	state_msg

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file wam_arm_navigation_alg_node.h.

Constructor & Destructor Documentation

WamArmNavigationAlgNode::WamArmNavigationAlgNode ( void )

Constructor.

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

Definition at line 3 of file wam_arm_navigation_alg_node.cpp.

WamArmNavigationAlgNode::~WamArmNavigationAlgNode ( void )

Destructor.

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

Definition at line 35 of file wam_arm_navigation_alg_node.cpp.

Member Function Documentation

void WamArmNavigationAlgNode::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< WamArmNavigationAlgorithm >.

Definition at line 232 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::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< WamArmNavigationAlgorithm >.

Definition at line 40 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::makeMoveMsg ( arm_navigation_msgs::MoveArmGoal & goal )

Definition at line 235 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::move_iri_wamActive ( ) [private]

Definition at line 93 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::move_iri_wamDone	(	const actionlib::SimpleClientGoalState &	state,
		const arm_navigation_msgs::MoveArmResultConstPtr &	result
	)		`[private]`

Definition at line 75 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::move_iri_wamFeedback ( const arm_navigation_msgs::MoveArmFeedbackConstPtr & feedback ) [private]

Definition at line 98 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::move_iri_wamMakeActionRequest ( const arm_navigation_msgs::MoveArmGoal & msg ) [private]

Definition at line 204 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::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< WamArmNavigationAlgorithm >.

Definition at line 225 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::simple_pose_moveGetFeedbackCallback ( iri_wam_arm_navigation::SimplePoseFeedbackPtr & feedback ) [private]

Definition at line 184 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::simple_pose_moveGetResultCallback ( iri_wam_arm_navigation::SimplePoseResultPtr & result ) [private]

Definition at line 175 of file wam_arm_navigation_alg_node.cpp.

bool WamArmNavigationAlgNode::simple_pose_moveHasSucceedCallback ( void ) [private]

Definition at line 159 of file wam_arm_navigation_alg_node.cpp.

bool WamArmNavigationAlgNode::simple_pose_moveIsFinishedCallback ( void ) [private]

Definition at line 142 of file wam_arm_navigation_alg_node.cpp.

void WamArmNavigationAlgNode::simple_pose_moveStartCallback ( const iri_wam_arm_navigation::SimplePoseGoalConstPtr & goal ) [private]

Definition at line 115 of file wam_arm_navigation_alg_node.cpp.