Wrapper class for FootstepPlanner, providing callbacks for the node functionality. More...

#include <footstep_planner_node.h>

Public Member Functions
	FootstepPlannerNode (ros::NodeHandle &nh)
virtual void	init (ros::NodeHandle &nh)
virtual void	initPlugins (ros::NodeHandle &nh)
virtual	~FootstepPlannerNode ()
Protected Member Functions
void	goalPoseCallback (const geometry_msgs::PoseStampedConstPtr &goal_pose)
void	planningFeedbackActionCallback (const msgs::PlanningFeedback &feedback, SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)
void	planningFeedbackCallback (const msgs::PlanningFeedback &feedback)
void	planningPreemptionActionCallback (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)
void	planningResultActionCallback (const msgs::StepPlanRequestService::Response &resp, SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)
void	planningResultCallback (const msgs::StepPlanRequestService::Response &resp)
void	setParams (const std_msgs::StringConstPtr &params_name)
void	stepPlanRequest (const msgs::StepPlanRequestConstPtr &plan_request)
void	stepPlanRequestAction (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)
void	stepPlanRequestPreempt (SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &as)
bool	stepPlanRequestService (msgs::StepPlanRequestService::Request &req, msgs::StepPlanRequestService::Response &resp)
void	updateFeetAction (SimpleActionServer< msgs::UpdateFeetAction >::Ptr &as)
bool	updateFeetService (msgs::UpdateFeetService::Request &req, msgs::UpdateFeetService::Response &resp)
void	updateFootAction (SimpleActionServer< msgs::UpdateFootAction >::Ptr &as)
bool	updateFootService (msgs::UpdateFootService::Request &req, msgs::UpdateFootService::Response &resp)
void	updateStepPlanAction (SimpleActionServer< msgs::UpdateStepPlanAction >::Ptr &as)
bool	updateStepPlanService (msgs::UpdateStepPlanService::Request &req, msgs::UpdateStepPlanService::Response &resp)
Protected Attributes
ros::Publisher	error_status_pub
ros::Publisher	feedback_pub
geometry_msgs::Vector3	foot_size
FootstepPlanner::Ptr	footstep_planner
ros::ServiceClient	generate_feet_pose_client
ros::Subscriber	goal_pose_sub
ros::Subscriber	set_active_parameter_set_sub
ros::Publisher	step_plan_pub
SimpleActionServer < msgs::StepPlanRequestAction > ::Ptr	step_plan_request_as
boost::recursive_mutex	step_plan_request_as_mutex
ros::ServiceServer	step_plan_request_srv
ros::Subscriber	step_plan_request_sub
ros::Publisher	step_plan_request_vis_pub
ros::Publisher	step_plan_vis_pub
ros::Publisher	temp_step_plan_pub
SimpleActionServer < msgs::UpdateFeetAction > ::Ptr	update_feet_as
ros::ServiceServer	update_feet_srv
SimpleActionServer < msgs::UpdateFootAction > ::Ptr	update_foot_as
ros::ServiceServer	update_foot_srv
SimpleActionServer < msgs::UpdateStepPlanAction > ::Ptr	update_step_plan_as
ros::ServiceServer	update_step_plan_srv

Detailed Description

Wrapper class for FootstepPlanner, providing callbacks for the node functionality.

Definition at line 53 of file footstep_planner_node.h.

Constructor & Destructor Documentation

vigir_footstep_planning::FootstepPlannerNode::FootstepPlannerNode ( ros::NodeHandle & nh )

Definition at line 16 of file footstep_planner_node.cpp.

vigir_footstep_planning::FootstepPlannerNode::~FootstepPlannerNode ( ) [virtual]

Definition at line 74 of file footstep_planner_node.cpp.

Member Function Documentation

void vigir_footstep_planning::FootstepPlannerNode::goalPoseCallback ( const geometry_msgs::PoseStampedConstPtr & goal_pose ) [protected]

Definition at line 194 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::init ( ros::NodeHandle & nh ) [virtual]

Definition at line 37 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::initPlugins ( ros::NodeHandle & nh ) [virtual]

No need to load plugin set here as it will be done in the constructor of FootstepPlanner

Definition at line 22 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningFeedbackActionCallback	(	const msgs::PlanningFeedback &	feedback,
		SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &	as
	)		`[protected]`

Definition at line 132 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningFeedbackCallback ( const msgs::PlanningFeedback & feedback ) [protected]

Definition at line 127 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningPreemptionActionCallback ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as ) [protected]

Definition at line 141 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningResultActionCallback	(	const msgs::StepPlanRequestService::Response &	resp,
		SimpleActionServer< msgs::StepPlanRequestAction >::Ptr &	as
	)		`[protected]`

Definition at line 98 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::planningResultCallback ( const msgs::StepPlanRequestService::Response & resp ) [protected]

Definition at line 80 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::setParams ( const std_msgs::StringConstPtr & params_name ) [protected]

Definition at line 151 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequest ( const msgs::StepPlanRequestConstPtr & plan_request ) [protected]

Definition at line 163 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestAction ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as ) [protected]

Definition at line 299 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestPreempt ( SimpleActionServer< msgs::StepPlanRequestAction >::Ptr & as ) [protected]

Definition at line 338 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::stepPlanRequestService	(	msgs::StepPlanRequestService::Request &	req,
		msgs::StepPlanRequestService::Response &	resp
	)		`[protected]`

Definition at line 253 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateFeetAction ( SimpleActionServer< msgs::UpdateFeetAction >::Ptr & as ) [protected]

Definition at line 367 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateFeetService	(	msgs::UpdateFeetService::Request &	req,
		msgs::UpdateFeetService::Response &	resp
	)		`[protected]`

Definition at line 282 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateFootAction ( SimpleActionServer< msgs::UpdateFootAction >::Ptr & as ) [protected]

Definition at line 349 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateFootService	(	msgs::UpdateFootService::Request &	req,
		msgs::UpdateFootService::Response &	resp
	)		`[protected]`

Definition at line 275 of file footstep_planner_node.cpp.

void vigir_footstep_planning::FootstepPlannerNode::updateStepPlanAction ( SimpleActionServer< msgs::UpdateStepPlanAction >::Ptr & as ) [protected]

Definition at line 385 of file footstep_planner_node.cpp.

bool vigir_footstep_planning::FootstepPlannerNode::updateStepPlanService	(	msgs::UpdateStepPlanService::Request &	req,
		msgs::UpdateStepPlanService::Response &	resp
	)		`[protected]`