IRI ROS Specific Algorithm Class. More...

#include <wam_move_arm_alg_node.h>

Inheritance diagram for WamMoveArmAlgNode:

Public Member Functions
	WamMoveArmAlgNode (void)
	Constructor.
	~WamMoveArmAlgNode (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_armGetFeedbackCallback (arm_navigation_msgs::MoveArmFeedbackPtr &feedback)
void	move_armGetResultCallback (arm_navigation_msgs::MoveArmResultPtr &result)
bool	move_armHasSucceedCallback (void)
bool	move_armIsFinishedCallback (void)
void	move_armStartCallback (const arm_navigation_msgs::MoveArmGoalConstPtr &goal)
void	move_armStopCallback (void)
void	syn_move_armActive ()
void	syn_move_armDone (const actionlib::SimpleClientGoalState &state, const arm_navigation_msgs::MoveArmResultConstPtr &result)
void	syn_move_armFeedback (const arm_navigation_msgs::MoveArmFeedbackConstPtr &feedback)
void	syn_move_armMakeActionRequest (const arm_navigation_msgs::MoveArmGoal &goal)
Private Attributes
std::vector < arm_navigation_msgs::ContactInformation >	contact_information_move_arm
arm_navigation_msgs::ArmNavigationErrorCodes	error_code_move_arm
bool	has_move_arm_feedback
bool	has_move_arm_result
IriActionServer < arm_navigation_msgs::MoveArmAction >	move_arm_aserver_
arm_navigation_msgs::MoveArmFeedback	move_feedback
arm_navigation_msgs::MoveArmResult	move_result
std::string	state_move_arm_feedback
std::string	state_move_arm_goal
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	syn_move_arm_client_
arm_navigation_msgs::MoveArmGoal	syn_move_arm_goal_
ros::Duration	time_move_arm_feedback

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file wam_move_arm_alg_node.h.

Constructor & Destructor Documentation

WamMoveArmAlgNode::WamMoveArmAlgNode ( void )

Constructor.

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

Definition at line 3 of file wam_move_arm_alg_node.cpp.

WamMoveArmAlgNode::~WamMoveArmAlgNode ( void )

Destructor.

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

Definition at line 36 of file wam_move_arm_alg_node.cpp.

Member Function Documentation

void WamMoveArmAlgNode::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< WamMoveArmAlgorithm >.

Definition at line 192 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::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< WamMoveArmAlgorithm >.

Definition at line 41 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::move_armGetFeedbackCallback ( arm_navigation_msgs::MoveArmFeedbackPtr & feedback ) [private]

Definition at line 168 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::move_armGetResultCallback ( arm_navigation_msgs::MoveArmResultPtr & result ) [private]

Definition at line 158 of file wam_move_arm_alg_node.cpp.

bool WamMoveArmAlgNode::move_armHasSucceedCallback ( void ) [private]

Definition at line 146 of file wam_move_arm_alg_node.cpp.

bool WamMoveArmAlgNode::move_armIsFinishedCallback ( void ) [private]

Definition at line 128 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::move_armStartCallback ( const arm_navigation_msgs::MoveArmGoalConstPtr & goal ) [private]

Definition at line 111 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::move_armStopCallback ( void ) [private]

Definition at line 120 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::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< WamMoveArmAlgorithm >.

Definition at line 185 of file wam_move_arm_alg_node.cpp.

void WamMoveArmAlgNode::syn_move_armActive ( ) [private]

Definition at line 70 of file wam_move_arm_alg_node.cpp.

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