IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_servo_move_alg_node.h>

Inheritance diagram for TibiDaboServoMoveAlgNode:

Public Member Functions
	TibiDaboServoMoveAlgNode (void)
	Constructor.
	~TibiDaboServoMoveAlgNode (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	servo_angleGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	servo_angleGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	servo_angleHasSucceedCallback (void)
bool	servo_angleIsFinishedCallback (void)
void	servo_angleStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	servo_angleStopCallback (void)
Private Attributes
CEventServer *	event_server
std::list< std::string >	events
CDynamixelMotor *	servo
IriActionServer < control_msgs::FollowJointTrajectoryAction >	servo_angle_aserver_
bool	servo_found

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file tibi_dabo_servo_move_alg_node.h.

Constructor & Destructor Documentation

TibiDaboServoMoveAlgNode::TibiDaboServoMoveAlgNode ( 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_servo_move_alg_node.cpp.

TibiDaboServoMoveAlgNode::~TibiDaboServoMoveAlgNode ( void )

Destructor.

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

Definition at line 61 of file tibi_dabo_servo_move_alg_node.cpp.

Member Function Documentation

void TibiDaboServoMoveAlgNode::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< TibiDaboServoMoveAlgorithm >.

Definition at line 173 of file tibi_dabo_servo_move_alg_node.cpp.

void TibiDaboServoMoveAlgNode::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< TibiDaboServoMoveAlgorithm >.

Definition at line 66 of file tibi_dabo_servo_move_alg_node.cpp.

void TibiDaboServoMoveAlgNode::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< TibiDaboServoMoveAlgorithm >.

Definition at line 166 of file tibi_dabo_servo_move_alg_node.cpp.

void TibiDaboServoMoveAlgNode::servo_angleGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 145 of file tibi_dabo_servo_move_alg_node.cpp.

void TibiDaboServoMoveAlgNode::servo_angleGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 137 of file tibi_dabo_servo_move_alg_node.cpp.

bool TibiDaboServoMoveAlgNode::servo_angleHasSucceedCallback ( void ) [private]

Definition at line 125 of file tibi_dabo_servo_move_alg_node.cpp.

bool TibiDaboServoMoveAlgNode::servo_angleIsFinishedCallback ( void ) [private]

Definition at line 113 of file tibi_dabo_servo_move_alg_node.cpp.

void TibiDaboServoMoveAlgNode::servo_angleStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 82 of file tibi_dabo_servo_move_alg_node.cpp.