IRI ROS Specific Driver Class. More...

#include <tibi_dabo_hri_teleop_alg.h>

Public Types
typedef tibi_dabo_hri_teleop::TibiDaboHriTeleopConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	load_goal (std::string &filename, std::vector< std::string > &xml_files)
void	lock (void)
	Lock Algorithm.
	TibiDaboHriTeleopAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~TibiDaboHriTeleopAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
std::vector< std::string >	motion_seq_files_
std::vector< std::string >	speech_filenames
std::vector< std::string >	speech_files
std::string	xml_path
Protected Types
enum	clients { TTS_ = 0, LEDS_ = 1, HEAD_ = 2, LEFT_ARM_ = 3, RIGHT_ARM_ = 4 }
Protected Member Functions
void	scan_XML_files (void)
Protected Attributes
CMutex	alg_mutex_
	define config type
unsigned int	desired_home_interval_
unsigned int	desired_repeat_interval_
unsigned int	desired_speech_interval
Static Protected Attributes
static const int	NUM_CLIENTS = RIGHT_ARM_-TTS_+1

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 42 of file tibi_dabo_hri_teleop_alg.h.

Member Typedef Documentation

typedef tibi_dabo_hri_teleop::TibiDaboHriTeleopConfig TibiDaboHriTeleopAlgorithm::Config

define config type

Define a Config type with the TibiDaboHriTeleopConfig. All driver implementations will then use the same variable type Config.

Definition at line 73 of file tibi_dabo_hri_teleop_alg.h.

Member Enumeration Documentation

enum TibiDaboHriTeleopAlgorithm::clients [protected]

Enumerator:

TTS_
LEDS_
HEAD_
LEFT_ARM_
RIGHT_ARM_

Definition at line 61 of file tibi_dabo_hri_teleop_alg.h.

Constructor & Destructor Documentation

TibiDaboHriTeleopAlgorithm::TibiDaboHriTeleopAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 13 of file tibi_dabo_hri_teleop_alg.cpp.

TibiDaboHriTeleopAlgorithm::~TibiDaboHriTeleopAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 99 of file tibi_dabo_hri_teleop_alg.cpp.

Member Function Documentation

void TibiDaboHriTeleopAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: