IRI ROS Specific Algorithm Class. More...

#include <kinton_arm_tag_tracker_alg_node.h>

Inheritance diagram for KintonArmTagTrackerAlgNode:

Public Member Functions
	KintonArmTagTrackerAlgNode (void)
	Constructor.
	~KintonArmTagTrackerAlgNode (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	init_arm ()
	Arm Initialization.
void	input_callback (const geometry_msgs::TwistWithCovariance::ConstPtr &msg)
Private Attributes
bool	activate_
MatrixXd	cam_vel_
bool	cam_vel_ok_
double	dt_
bool	init_
CMutex	input_mutex_
ros::Subscriber	input_subscriber_
sensor_msgs::JointState	JointState_msg_
Chain	kdl_chain_
int	num_joints_
ros::Publisher	output_publisher_
geometry_msgs::Pose	pose_
MatrixXd	q_
Matrix4d	T_endeff_
KintonArmTagTrackerAlgorithm	tag_tracker_
ros::Time	time_
ros::Time	time_last_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file kinton_arm_tag_tracker_alg_node.h.

Constructor & Destructor Documentation

KintonArmTagTrackerAlgNode::KintonArmTagTrackerAlgNode ( void )

Constructor.

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

Definition at line 7 of file kinton_arm_tag_tracker_alg_node.cpp.

KintonArmTagTrackerAlgNode::~KintonArmTagTrackerAlgNode ( void )

Destructor.

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

Definition at line 64 of file kinton_arm_tag_tracker_alg_node.cpp.

Member Function Documentation

void KintonArmTagTrackerAlgNode::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< KintonArmTagTrackerAlgorithm >.

Definition at line 187 of file kinton_arm_tag_tracker_alg_node.cpp.

void KintonArmTagTrackerAlgNode::init_arm ( ) [private]

Arm Initialization.

Arm Variables initializations.

Definition at line 154 of file kinton_arm_tag_tracker_alg_node.cpp.

void KintonArmTagTrackerAlgNode::input_callback ( const geometry_msgs::TwistWithCovariance::ConstPtr & msg ) [private]

Definition at line 117 of file kinton_arm_tag_tracker_alg_node.cpp.

void KintonArmTagTrackerAlgNode::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< KintonArmTagTrackerAlgorithm >.

Definition at line 69 of file kinton_arm_tag_tracker_alg_node.cpp.

void KintonArmTagTrackerAlgNode::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< KintonArmTagTrackerAlgorithm >.

Definition at line 180 of file kinton_arm_tag_tracker_alg_node.cpp.