IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_hri_alg_node.h>

Inheritance diagram for TibiDaboHriAlgNode:

Public Member Functions
	TibiDaboHriAlgNode (void)
	Constructor.
	~TibiDaboHriAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	cancelCurrentGoals (void)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	speak (void)
Private Member Functions
void	getFeedbackCallback (tibi_dabo_msgs::sequenceFeedbackPtr &feedback)
void	getResultCallback (tibi_dabo_msgs::sequenceResultPtr &result)
bool	hasSucceedCallback (void)
void	headActive (void)
void	headDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	headFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	headMakeActionRequest (const tibi_dabo_msgs::sequenceGoal &head_goal)
bool	isFinishedCallback (void)
void	ledsActive (void)
void	ledsDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	ledsFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	ledsMakeActionRequest (const tibi_dabo_msgs::sequenceGoal &leds_goal)
void	leftArmActive (void)
void	leftArmDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	leftArmFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	leftArmMakeActionRequest (const tibi_dabo_msgs::sequenceGoal &left_arm_goal)
void	rightArmActive (void)
void	rightArmDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	rightArmFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	rightArmMakeActionRequest (const tibi_dabo_msgs::sequenceGoal &right_arm_goal)
void	startCallback (const tibi_dabo_msgs::sequenceGoalConstPtr &goal)
void	stopCallback (void)
void	ttsActive (void)
void	ttsDone (const actionlib::SimpleClientGoalState &state, const iri_common_drivers_msgs::ttsResultConstPtr &result)
void	ttsFeedback (const iri_common_drivers_msgs::ttsFeedbackConstPtr &feedback)
void	ttsMakeActionRequest (const iri_common_drivers_msgs::ttsGoal &tts_goal)
Private Attributes
bool	empty_leds_sequence_
ros::Publisher	facial_expression_publisher_
TSeqClient	head_
bool	head_connected_
TSeqClient	leds_
bool	leds_connected_
TSeqClient	left_arm_
bool	left_arm_connected_
TSeqClient	right_arm_
bool	right_arm_connected_
IriActionServer < tibi_dabo_msgs::sequenceAction >	seqs_aserver_
TTtsClient	tts_
bool	tts_connected_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 71 of file tibi_dabo_hri_alg_node.h.

Constructor & Destructor Documentation

TibiDaboHriAlgNode::TibiDaboHriAlgNode ( 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_hri_alg_node.cpp.

TibiDaboHriAlgNode::~TibiDaboHriAlgNode ( void )

Destructor.

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

Definition at line 63 of file tibi_dabo_hri_alg_node.cpp.

Member Function Documentation

void TibiDaboHriAlgNode::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< TibiDaboHriAlgorithm >.

Definition at line 667 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::cancelCurrentGoals ( void ) [protected]

Definition at line 81 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::getFeedbackCallback ( tibi_dabo_msgs::sequenceFeedbackPtr & feedback ) [private]

Definition at line 396 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::getResultCallback ( tibi_dabo_msgs::sequenceResultPtr & result ) [private]

Definition at line 381 of file tibi_dabo_hri_alg_node.cpp.

bool TibiDaboHriAlgNode::hasSucceedCallback ( void ) [private]

Definition at line 342 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::headActive ( void ) [private]

Definition at line 508 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::headDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 492 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::headFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 513 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::headMakeActionRequest ( const tibi_dabo_msgs::sequenceGoal & head_goal ) [private]

Definition at line 619 of file tibi_dabo_hri_alg_node.cpp.

bool TibiDaboHriAlgNode::isFinishedCallback ( void ) [private]

Definition at line 313 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ledsActive ( void ) [private]

Definition at line 475 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ledsDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 459 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ledsFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 480 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ledsMakeActionRequest ( const tibi_dabo_msgs::sequenceGoal & leds_goal ) [private]

Definition at line 604 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::leftArmActive ( void ) [private]

Definition at line 540 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::leftArmDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 524 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::leftArmFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 545 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::leftArmMakeActionRequest ( const tibi_dabo_msgs::sequenceGoal & left_arm_goal ) [private]

Definition at line 634 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::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< TibiDaboHriAlgorithm >.

Definition at line 134 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::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< TibiDaboHriAlgorithm >.

Definition at line 663 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::rightArmActive ( void ) [private]

Definition at line 572 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::rightArmDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 556 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::rightArmFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 577 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::rightArmMakeActionRequest ( const tibi_dabo_msgs::sequenceGoal & right_arm_goal ) [private]

Definition at line 649 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::speak ( void ) [protected]

Definition at line 116 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::startCallback ( const tibi_dabo_msgs::sequenceGoalConstPtr & goal ) [private]

Definition at line 224 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::stopCallback ( void ) [private]

Definition at line 305 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ttsActive ( void ) [private]

Definition at line 439 of file tibi_dabo_hri_alg_node.cpp.

void TibiDaboHriAlgNode::ttsDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_common_drivers_msgs::ttsResultConstPtr &	result
	)		`[private]`