#include <romeo.h>

Inheritance diagram for Romeo:

Public Member Functions
void	brokerDisconnected (const string &event_name, const string &broker_name, const string &subscriber_identifier)
void	commandVelocity (const geometry_msgs::TwistConstPtr &msg)
bool	connect (const ros::NodeHandle nh)
bool	connected ()
void	controllerLoop ()
void	DCMAliasTimedCommand (const string &alias, const vector< float > &values, const vector< int > &timeOffsets, const string &type="Merge", const string &type2="time-mixed")
void	DCMTimedCommand (const string &key, const AL::ALValue &value, const int &timeOffset, const string &type="Merge")
void	declareEvent (const string &name)
void	disconnect ()
AL::ALValue	getDataFromMemory (const string &key)
void	highCommunicationLoop ()
bool	initialize ()
bool	initializeControllers (controller_manager::ControllerManager &cm)
void	insertDataToMemory (const string &key, const AL::ALValue &value)
void	loadParams ()
void	lowCommunicationLoop ()
void	publishJointStateFromAlMotion ()
void	raiseEvent (const string &name, const AL::ALValue &value)
void	raiseMicroEvent (const string &name, const AL::ALValue &value)
void	readJoints ()
	Romeo (boost::shared_ptr< AL::ALBroker > broker, const std::string &name)
void	run ()
void	subscribe ()
void	subscribeToEvent (const std::string &name, const std::string &callback_module, const std::string &callback_method)
void	subscribeToMicroEvent (const std::string &name, const std::string &callback_module, const std::string &callback_method, const string &callback_message="")
bool	switchStiffnesses (romeo_dcm_msgs::BoolService::Request &req, romeo_dcm_msgs::BoolService::Response &res)
void	unsubscribeFromEvent (const string &name, const string &callback_module)
void	unsubscribeFromMicroEvent (const string &name, const string &callback_module)
void	writeJoints ()
	~Romeo ()
Private Attributes
string	body_type_
ros::Subscriber	cmd_vel_sub_
AL::ALValue	commands_
double	controller_freq_
boost::shared_ptr< AL::ALProxy >	dcm_proxy_
diagnostic_updater::Updater	diagnostic_
double	high_freq_
bool	is_connected_
hardware_interface::PositionJointInterface	jnt_pos_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
vector< double >	joint_angles_
vector< double >	joint_commands_
vector< double >	joint_efforts_
vector< string >	joint_names_
double	joint_precision_
vector< double >	joint_velocities_
vector< string >	joints_names_
double	low_freq_
sensor_msgs::JointState	m_jointState
ros::Publisher	m_jointStatePub
boost::shared_ptr < AL::ALMotionProxy >	m_motionProxy
controller_manager::ControllerManager *	manager_
AL::ALMemoryProxy	memory_proxy_
ros::NodeHandle	node_handle_
int	number_of_joints_
string	odom_frame_
string	prefix_
std_msgs::Float32	stiffness_
ros::Publisher	stiffness_pub_
ros::ServiceServer	stiffness_switch_
bool	stiffnesses_enabled_
int	topic_queue_
string	version_

Detailed Description

Definition at line 82 of file romeo.h.

Constructor & Destructor Documentation

Romeo::Romeo	(	boost::shared_ptr< AL::ALBroker >	broker,
		const std::string &	name
	)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 32 of file romeo.cpp.

Romeo::~Romeo ( )

Definition at line 41 of file romeo.cpp.

Member Function Documentation

void Romeo::brokerDisconnected	(	const string &	event_name,
		const string &	broker_name,
		const string &	subscriber_identifier
	)

Definition at line 299 of file romeo.cpp.

void Romeo::commandVelocity ( const geometry_msgs::TwistConstPtr & msg )

Definition at line 555 of file romeo.cpp.

bool Romeo::connect ( const ros::NodeHandle nh )

Definition at line 182 of file romeo.cpp.

bool Romeo::connected ( )

Definition at line 550 of file romeo.cpp.

void Romeo::controllerLoop ( )

Definition at line 512 of file romeo.cpp.

void Romeo::DCMAliasTimedCommand	(	const string &	alias,
		const vector< float > &	values,
		const vector< int > &	timeOffsets,
		const string &	type = `"Merge"`,
		const string &	type2 = `"time-mixed"`
	)

Definition at line 328 of file romeo.cpp.

void Romeo::DCMTimedCommand	(	const string &	key,
		const AL::ALValue &	value,
		const int &	timeOffset,
		const string &	type = `"Merge"`
	)

Definition at line 305 of file romeo.cpp.

void Romeo::declareEvent ( const string & name )

Definition at line 441 of file romeo.cpp.

void Romeo::disconnect ( )

Definition at line 250 of file romeo.cpp.

AL::ALValue Romeo::getDataFromMemory ( const string & key )

Definition at line 363 of file romeo.cpp.

void Romeo::highCommunicationLoop ( )

Definition at line 487 of file romeo.cpp.

bool Romeo::initialize ( )

Definition at line 47 of file romeo.cpp.

bool Romeo::initializeControllers ( controller_manager::ControllerManager & cm )

Definition at line 143 of file romeo.cpp.

void Romeo::insertDataToMemory	(	const string &	key,
		const AL::ALValue &	value
	)

Definition at line 358 of file romeo.cpp.

void Romeo::loadParams ( )

Definition at line 280 of file romeo.cpp.

void Romeo::lowCommunicationLoop ( )

Definition at line 463 of file romeo.cpp.

void Romeo::publishJointStateFromAlMotion ( )

Definition at line 583 of file romeo.cpp.

void Romeo::raiseEvent	(	const string &	name,
		const AL::ALValue &	value
	)

Definition at line 417 of file romeo.cpp.

void Romeo::raiseMicroEvent	(	const string &	name,
		const AL::ALValue &	value
	)

Definition at line 429 of file romeo.cpp.

void Romeo::readJoints ( )

Definition at line 560 of file romeo.cpp.

void Romeo::run ( )

Definition at line 453 of file romeo.cpp.

void Romeo::subscribe ( )

Definition at line 265 of file romeo.cpp.

void Romeo::subscribeToEvent	(	const std::string &	name,
		const std::string &	callback_module,
		const std::string &	callback_method
	)

Definition at line 368 of file romeo.cpp.

void Romeo::subscribeToMicroEvent	(	const std::string &	name,
		const std::string &	callback_module,
		const std::string &	callback_method,
		const string &	callback_message = `""`
	)