IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_head_tracking_alg_node.h>

Inheritance diagram for TibiDaboHeadTrackingAlgNode:

Public Member Functions
	TibiDaboHeadTrackingAlgNode (void)
	Constructor.
	~TibiDaboHeadTrackingAlgNode (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 Types
enum	states { IDLE_STATE, FOLLOW_STATE, PREEMPT_STATE }
Private Member Functions
void	follow_targetGetFeedbackCallback (iri_nav_msgs::followTargetFeedbackPtr &feedback)
void	follow_targetGetResultCallback (iri_nav_msgs::followTargetResultPtr &result)
bool	follow_targetHasSucceedCallback (void)
bool	follow_targetIsFinishedCallback (void)
void	follow_targetStartCallback (const iri_nav_msgs::followTargetGoalConstPtr &goal)
void	follow_targetStopCallback (void)
void	joint_feedback_callback (const sensor_msgs::JointState::ConstPtr &msg)
void	target_joints_callback (const trajectory_msgs::JointTrajectoryPoint::ConstPtr &msg)
Private Attributes
states	current_state_
CEventServer *	event_server
std::string	feedback_on_event_id
IriActionServer < iri_nav_msgs::followTargetAction >	follow_target_aserver_
CMutex	joint_feedback_mutex_
ros::Subscriber	joint_feedback_subscriber_
ros::Publisher	joint_position_publisher_
trajectory_msgs::JointTrajectoryPoint	JointTrajectoryPoint_msg_
int	mode
std::string	new_req_event_id_
double	pan_angle
ros::Subscriber	target_joints_subscriber_
float	target_pan
CMutex	target_pos_mutex_
float	target_tilt
double	tilt_angle

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file tibi_dabo_head_tracking_alg_node.h.

Member Enumeration Documentation

enum TibiDaboHeadTrackingAlgNode::states [private]

Enumerator:

IDLE_STATE
FOLLOW_STATE
PREEMPT_STATE

Definition at line 89 of file tibi_dabo_head_tracking_alg_node.h.

Constructor & Destructor Documentation

TibiDaboHeadTrackingAlgNode::TibiDaboHeadTrackingAlgNode ( void )

Constructor.

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

Definition at line 3 of file tibi_dabo_head_tracking_alg_node.cpp.

TibiDaboHeadTrackingAlgNode::~TibiDaboHeadTrackingAlgNode ( void )

Destructor.

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

Definition at line 62 of file tibi_dabo_head_tracking_alg_node.cpp.

Member Function Documentation

void TibiDaboHeadTrackingAlgNode::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< TibiDaboHeadTrackingAlgorithm >.

Definition at line 251 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::follow_targetGetFeedbackCallback ( iri_nav_msgs::followTargetFeedbackPtr & feedback ) [private]

Definition at line 227 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::follow_targetGetResultCallback ( iri_nav_msgs::followTargetResultPtr & result ) [private]

Definition at line 219 of file tibi_dabo_head_tracking_alg_node.cpp.

bool TibiDaboHeadTrackingAlgNode::follow_targetHasSucceedCallback ( void ) [private]

Definition at line 207 of file tibi_dabo_head_tracking_alg_node.cpp.

bool TibiDaboHeadTrackingAlgNode::follow_targetIsFinishedCallback ( void ) [private]

Definition at line 195 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::follow_targetStartCallback ( const iri_nav_msgs::followTargetGoalConstPtr & goal ) [private]

Definition at line 176 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::follow_targetStopCallback ( void ) [private]

Definition at line 186 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::joint_feedback_callback ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 150 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::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< TibiDaboHeadTrackingAlgorithm >.

Definition at line 78 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::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< TibiDaboHeadTrackingAlgorithm >.

Definition at line 241 of file tibi_dabo_head_tracking_alg_node.cpp.

void TibiDaboHeadTrackingAlgNode::target_joints_callback ( const trajectory_msgs::JointTrajectoryPoint::ConstPtr & msg ) [private]

Definition at line 127 of file tibi_dabo_head_tracking_alg_node.cpp.