WamCartesianPlanningAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <wam_cartesian_planning_alg_node.h>

Inheritance diagram for WamCartesianPlanningAlgNode:

List of all members.

Public Member Functions
	WamCartesianPlanningAlgNode (void)
	Constructor.
	~WamCartesianPlanningAlgNode (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
ompl::base::ScopedState < ompl::base::SE3StateSpace >	rosToOmpl (const geometry_msgs::PoseStamped &msg)
Private Member Functions
bool	path_planningCallback (iri_wam_cartesian_planning::PosePath::Request &req, iri_wam_cartesian_planning::PosePath::Response &res)
Private Attributes
CMutex	path_planning_mutex_
ros::ServiceServer	path_planning_server_

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Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file wam_cartesian_planning_alg_node.h.

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Constructor & Destructor Documentation

WamCartesianPlanningAlgNode::WamCartesianPlanningAlgNode

(

void

)

Constructor.

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

Definition at line 3 of file wam_cartesian_planning_alg_node.cpp.

WamCartesianPlanningAlgNode::~WamCartesianPlanningAlgNode

(

void

)

Destructor.

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

Definition at line 23 of file wam_cartesian_planning_alg_node.cpp.

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Member Function Documentation

void WamCartesianPlanningAlgNode::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< WamCartesianPlanningAlgorithm >.

Definition at line 68 of file wam_cartesian_planning_alg_node.cpp.

void WamCartesianPlanningAlgNode::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< WamCartesianPlanningAlgorithm >.

Definition at line 28 of file wam_cartesian_planning_alg_node.cpp.

void WamCartesianPlanningAlgNode::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< WamCartesianPlanningAlgorithm >.

Definition at line 61 of file wam_cartesian_planning_alg_node.cpp.

bool WamCartesianPlanningAlgNode::path_planningCallback	(	iri_wam_cartesian_planning::PosePath::Request &	req,
		iri_wam_cartesian_planning::PosePath::Response &	res
	)		[private]

Definition at line 42 of file wam_cartesian_planning_alg_node.cpp.

ompl::base::ScopedState< ompl::base::SE3StateSpace > WamCartesianPlanningAlgNode::rosToOmpl

(

const geometry_msgs::PoseStamped &

msg

)

[protected]

Definition at line 72 of file wam_cartesian_planning_alg_node.cpp.

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Member Data Documentation

CMutex WamCartesianPlanningAlgNode::path_planning_mutex_ [private]

Definition at line 53 of file wam_cartesian_planning_alg_node.h.

ros::ServiceServer WamCartesianPlanningAlgNode::path_planning_server_ [private]

Definition at line 51 of file wam_cartesian_planning_alg_node.h.

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The documentation for this class was generated from the following files:

• wam_cartesian_planning_alg_node.h
• wam_cartesian_planning_alg_node.cpp