IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_intro_alg_node.h>

Inheritance diagram for TibiDaboIntroAlgNode:

Public Member Functions
	TibiDaboIntroAlgNode (void)
	Constructor.
	~TibiDaboIntroAlgNode (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 Member Functions
bool	doHri (int state)
void	fillHriGoal (int state, int index)
void	hri_clientActive ()
void	hri_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hri_clientFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hri_clientMakeActionRequest ()
void	joy_callback (const sensor_msgs::Joy::ConstPtr &msg)
void	loadSequences ()
Private Attributes
int	current_language
std::vector< std::vector < std::vector< std::string > > >	head_sequence
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_client_
tibi_dabo_msgs::sequenceGoal	hri_client_goal_
std::vector< std::vector < std::string > >	hri_prefix
bool	hriActive
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
std::vector< std::vector < std::vector< std::string > > >	left_arm_sequence
std::vector< std::vector < std::vector< std::string > > >	right_arm_sequence
int	robot
std::vector< std::vector < std::vector< std::string > > >	speech
bool	trigger_backward
bool	trigger_forward

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file tibi_dabo_intro_alg_node.h.

Constructor & Destructor Documentation

TibiDaboIntroAlgNode::TibiDaboIntroAlgNode ( 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_intro_alg_node.cpp.

TibiDaboIntroAlgNode::~TibiDaboIntroAlgNode ( void )

Destructor.

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

Definition at line 36 of file tibi_dabo_intro_alg_node.cpp.

Member Function Documentation

void TibiDaboIntroAlgNode::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< TibiDaboIntroAlgorithm >.

Definition at line 521 of file tibi_dabo_intro_alg_node.cpp.

bool TibiDaboIntroAlgNode::doHri ( int state ) [private]

Definition at line 187 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::fillHriGoal	(	int	state,
		int	index
	)		`[private]`

Definition at line 211 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::hri_clientActive ( ) [private]

Definition at line 265 of file tibi_dabo_intro_alg_node.cpp.

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

Definition at line 252 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::hri_clientFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 273 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::hri_clientMakeActionRequest ( ) [private]

Definition at line 293 of file tibi_dabo_intro_alg_node.cpp.

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

Definition at line 221 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::loadSequences ( ) [private]

Definition at line 312 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::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< TibiDaboIntroAlgorithm >.

Definition at line 41 of file tibi_dabo_intro_alg_node.cpp.

void TibiDaboIntroAlgNode::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< TibiDaboIntroAlgorithm >.

Definition at line 486 of file tibi_dabo_intro_alg_node.cpp.