IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_hideandseek_alg_node.h>

Inheritance diagram for TibiDaboHideandseekAlgNode:

Public Member Functions
	TibiDaboHideandseekAlgNode (void)
	Constructor.
	~TibiDaboHideandseekAlgNode (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 { STATE_PLAYING = 0, STATE_WIN_SEEKER = 1, STATE_WIN_HIDER = 2, STATE_TIE = 3, STATE_IDLE = 4, STATE_FINISHED = 5 }
Private Member Functions
void	joy_callback (const sensor_msgs::Joy::ConstPtr &msg)
void	move_baseActive ()
void	move_baseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_baseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	move_baseMakeActionRequest ()
void	odom_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	people_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
Private Attributes
geometry_msgs::PoseStamped	basePose
int	gameIteration
int	gameStatus
bool	hiderPoseReceived
std::vector< geometry_msgs::Point >	hiderPoses
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
move_base_msgs::MoveBaseGoal	move_base_goal_
bool	moveBaseActive
CMutex	odom_mutex_
ros::Subscriber	odom_subscriber_
bool	paused
CMutex	people_mutex_
ros::Subscriber	people_subscriber_
std::vector< int >	prev_buttons
int	previousId
std::vector< double >	previousXY
bool	ready2Move
geometry_msgs::PoseStamped	seekerGoal
geometry_msgs::PoseStamped	seekerPose
bool	seekerPoseReceived
tf::TransformListener	tf_listener_
Static Private Attributes
static const int	NUM_STATES = STATE_FINISHED-STATE_PLAYING+1

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file tibi_dabo_hideandseek_alg_node.h.

Member Enumeration Documentation

enum TibiDaboHideandseekAlgNode::states [private]

Enumerator:

STATE_PLAYING
STATE_WIN_SEEKER
STATE_WIN_HIDER
STATE_TIE
STATE_IDLE
STATE_FINISHED

Definition at line 96 of file tibi_dabo_hideandseek_alg_node.h.

Constructor & Destructor Documentation

TibiDaboHideandseekAlgNode::TibiDaboHideandseekAlgNode ( void )

Constructor.

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

Definition at line 4 of file tibi_dabo_hideandseek_alg_node.cpp.

TibiDaboHideandseekAlgNode::~TibiDaboHideandseekAlgNode ( void )

Destructor.

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

Definition at line 75 of file tibi_dabo_hideandseek_alg_node.cpp.

Member Function Documentation

void TibiDaboHideandseekAlgNode::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< TibiDaboHideandseekAlgorithm >.

Definition at line 370 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::joy_callback ( const sensor_msgs::Joy::ConstPtr & msg ) [private]

Definition at line 213 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::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< TibiDaboHideandseekAlgorithm >.

Definition at line 80 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::move_baseActive ( ) [private]

Definition at line 320 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::move_baseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 308 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::move_baseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 325 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 343 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::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< TibiDaboHideandseekAlgorithm >.

Definition at line 362 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::odom_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 265 of file tibi_dabo_hideandseek_alg_node.cpp.

void TibiDaboHideandseekAlgNode::people_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 180 of file tibi_dabo_hideandseek_alg_node.cpp.