IRI ROS Specific Algorithm Class. More...
#include <dabo_intro_alg_node.h>
IRI ROS Specific Algorithm Class.
Definition at line 47 of file dabo_intro_alg_node.h.
DaboIntroAlgNode::DaboIntroAlgNode | ( | void | ) |
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 4 of file dabo_intro_alg_node.cpp.
DaboIntroAlgNode::~DaboIntroAlgNode | ( | void | ) |
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 36 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::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< DaboIntroAlgorithm >.
Definition at line 528 of file dabo_intro_alg_node.cpp.
bool DaboIntroAlgNode::doHri | ( | int | state | ) | [private] |
Definition at line 195 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::fillHriGoal | ( | int | state, |
int | index | ||
) | [private] |
Definition at line 219 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::hri_clientActive | ( | ) | [private] |
Definition at line 273 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::hri_clientDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::sequenceResultConstPtr & | result | ||
) | [private] |
Definition at line 260 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::hri_clientFeedback | ( | const tibi_dabo_msgs::sequenceFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 281 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::hri_clientMakeActionRequest | ( | ) | [private] |
Definition at line 301 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::joy_callback | ( | const sensor_msgs::Joy::ConstPtr & | msg | ) | [private] |
Definition at line 229 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::loadSequences | ( | ) | [private] |
Definition at line 320 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::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< DaboIntroAlgorithm >.
Definition at line 41 of file dabo_intro_alg_node.cpp.
void DaboIntroAlgNode::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.
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< DaboIntroAlgorithm >.
Definition at line 493 of file dabo_intro_alg_node.cpp.
int DaboIntroAlgNode::current_language [private] |
Definition at line 77 of file dabo_intro_alg_node.h.
std::vector< std::vector < std::vector< std::string> > > DaboIntroAlgNode::head_sequence [private] |
Definition at line 74 of file dabo_intro_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> DaboIntroAlgNode::hri_client_client_ [private] |
Definition at line 64 of file dabo_intro_alg_node.h.
Definition at line 65 of file dabo_intro_alg_node.h.
std::vector< std::vector< std::string > > DaboIntroAlgNode::hri_prefix [private] |
Definition at line 79 of file dabo_intro_alg_node.h.
bool DaboIntroAlgNode::hriActive [private] |
Definition at line 70 of file dabo_intro_alg_node.h.
CMutex DaboIntroAlgNode::joy_mutex_ [private] |
Definition at line 55 of file dabo_intro_alg_node.h.
Definition at line 53 of file dabo_intro_alg_node.h.
std::vector< std::vector < std::vector< std::string> > > DaboIntroAlgNode::left_arm_sequence [private] |
Definition at line 75 of file dabo_intro_alg_node.h.
std::vector< std::vector < std::vector< std::string> > > DaboIntroAlgNode::right_arm_sequence [private] |
Definition at line 76 of file dabo_intro_alg_node.h.
int DaboIntroAlgNode::robot [private] |
Definition at line 78 of file dabo_intro_alg_node.h.
std::vector< std::vector < std::vector< std::string> > > DaboIntroAlgNode::speech [private] |
Definition at line 73 of file dabo_intro_alg_node.h.
bool DaboIntroAlgNode::trigger_backward [private] |
Definition at line 81 of file dabo_intro_alg_node.h.
bool DaboIntroAlgNode::trigger_forward [private] |
Definition at line 80 of file dabo_intro_alg_node.h.