IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_kinect_arm_alg_node.h>

Inheritance diagram for TibiDaboKinectArmAlgNode:

Public Member Functions
	TibiDaboKinectArmAlgNode (void)
	Constructor.
	~TibiDaboKinectArmAlgNode (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
void	FollowJointTrajectoryActive ()
void	FollowJointTrajectoryDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	FollowJointTrajectoryFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	FollowJointTrajectoryMakeActionRequest ()
void	tf_callback (const tf::tfMessage::ConstPtr &msg)
Private Attributes
bool	angle_mode_debug
std::string	arm_id
bool	debug
tf::StampedTransform	echo_transform
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	FollowJointTrajectory_client_
control_msgs::FollowJointTrajectoryGoal	FollowJointTrajectory_goal_
ros::ServiceClient	GetPositionIK_client_
kinematics_msgs::GetPositionIK	GetPositionIK_srv_
char	hand_tf [30]
bool	joint_motion_done
tf::TransformListener	listener
CMutex	tf_mutex_
ros::Subscriber	tf_subscriber_
float	theta1
double	theta1_debug
float	theta2
double	theta2_debug
float	theta3
double	theta3_debug
float	theta4
double	theta4_debug
tf::Vector3	v
float	x
double	x_debug
float	y
double	y_debug
float	z
double	z_debug

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file tibi_dabo_kinect_arm_alg_node.h.

Constructor & Destructor Documentation

TibiDaboKinectArmAlgNode::TibiDaboKinectArmAlgNode ( 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_kinect_arm_alg_node.cpp.

TibiDaboKinectArmAlgNode::~TibiDaboKinectArmAlgNode ( void )

Destructor.

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

Definition at line 62 of file tibi_dabo_kinect_arm_alg_node.cpp.

Member Function Documentation

void TibiDaboKinectArmAlgNode::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< TibiDaboKinectArmAlgorithm >.

Definition at line 298 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::FollowJointTrajectoryActive ( ) [private]

Definition at line 238 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::FollowJointTrajectoryDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`

Definition at line 227 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::FollowJointTrajectoryFeedback ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & feedback ) [private]

Definition at line 243 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::FollowJointTrajectoryMakeActionRequest ( ) [private]

Definition at line 261 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::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< TibiDaboKinectArmAlgorithm >.

Definition at line 67 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::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< TibiDaboKinectArmAlgorithm >.

Definition at line 280 of file tibi_dabo_kinect_arm_alg_node.cpp.

void TibiDaboKinectArmAlgNode::tf_callback ( const tf::tfMessage::ConstPtr & msg ) [private]

Definition at line 207 of file tibi_dabo_kinect_arm_alg_node.cpp.