thormang3_demo::QNodeThor3 Class Reference

#include <qnode.hpp>

Inheritance diagram for thormang3_demo::QNodeThor3:

Public Types
enum	LogLevel {   Debug = 0, Info = 1, Warn = 2, Error = 3,   Fatal = 4 }

Public Slots
void	getJointControlModule ()
void	getJointPose (std::string joint_name)
void	getKinematicsPose (std::string group_name)
void	getKinematicsPoseCallback (const geometry_msgs::Pose::ConstPtr &msg)
void	setCurrentControlUI (int mode)

Signals
void	loggingUpdated ()
void	rosShutdown ()
void	updateCurrJoint (double value)
void	updateCurrOri (double x, double y, double z, double w)
void	updateCurrPos (double x, double y, double z)
void	updateDemoPoint (const geometry_msgs::Point point)
void	updateDemoPose (const geometry_msgs::Pose pose)
void	updateHeadJointsAngle (double pan, double tilt)
void	updatePresentJointControlModules (std::vector< int > mode)

Public Member Functions
void	assembleLidar ()
void	clearFootsteps ()
void	clearInteractiveMarker ()
void	clearLog ()
void	clearUsingModule ()
void	enableControlModule (const std::string &mode)
bool	getIDFromJointName (const std::string &joint_name, int &id)
bool	getIDJointNameFromIndex (const int &index, int &id, std::string &joint_name)
void	getInteractiveMarkerPose ()
bool	getJointNameFromID (const int &id, std::string &joint_name)
int	getJointTableSize ()
int	getModuleIndex (const std::string &mode_name)
std::string	getModuleName (const int &index)
int	getModuleTableSize ()
bool	init ()
void	initFTCommand (std::string command)
bool	isUsingModule (const std::string &module_name)
void	kickDemo (const std::string &kick_foot)
void	log (const LogLevel &level, const std::string &msg, std::string sender="Demo")
QStringListModel *	loggingModel ()
void	makeFootstepUsingPlanner ()
void	makeFootstepUsingPlanner (const geometry_msgs::Pose &target_foot_pose)
void	makeInteractiveMarker (const geometry_msgs::Pose &marker_pose)
void	manipulationDemo (const int &index)
void	moveInitPose ()
void	playMotion (int motion_index, bool to_action_script=true)
	QNodeThor3 (int argc, char **argv)
void	run ()
void	sendDestJointMsg (thormang3_manipulation_module_msgs::JointPose msg)
void	sendGripperPosition (sensor_msgs::JointState msg)
void	sendIkMsg (thormang3_manipulation_module_msgs::KinematicsPose msg)
void	sendInitPoseMsg (std_msgs::String msg)
bool	setFeedBackGain ()
void	setHeadJoint (double pan, double tilt)
void	setWalkingBalance (bool on_command)
void	setWalkingBalanceParam (const double &gyro_gain, const double &ft_gain_ratio, const double &imu_time_const, const double &ft_time_const)
void	setWalkingCommand (thormang3_foot_step_generator::FootStepCommand msg)
void	setWalkingFootsteps ()
void	updateInteractiveMarker (const geometry_msgs::Pose &pose)
void	visualizePreviewFootsteps (bool clear)
virtual	~QNodeThor3 ()

Public Attributes
std::map< int, std::string >	module_table_
std::map< int, std::string >	motion_table_
std::string	package_name_

Private Types
enum	Control_Index {   MODE_UI = 0, WALKING_UI = 1, MANIPULATION_UI = 2, HEAD_CONTROL_UI = 3,   MOTION_UI = 4, DEMO_UI = 5 }

Private Member Functions
void	initFTFootCallback (const thormang3_feet_ft_module_msgs::BothWrench::ConstPtr &msg)
void	interactiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
bool	loadBalanceParameterFromYaml ()
bool	loadFeedbackGainFromYaml ()
void	parseJointNameFromYaml (const std::string &path)
void	parseMotionMapFromYaml (const std::string &path)
void	pointStampedCallback (const geometry_msgs::PointStamped::ConstPtr &msg)
void	poseCallback (const geometry_msgs::Pose::ConstPtr &msg)
void	refreshCurrentJointControlCallback (const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg)
void	setBalanceParameter ()
void	statusMsgCallback (const robotis_controller_msgs::StatusMsg::ConstPtr &msg)
void	turnOffBalance ()
void	turnOnBalance ()
void	updateHeadJointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)

Private Attributes
ros::Subscriber	both_ft_foot_sub_
int	current_control_ui_
ros::Subscriber	current_joint_states_sub_
ros::Subscriber	current_module_control_sub_
geometry_msgs::Pose	current_pose_
bool	debug_print_
std::string	frame_id_
ros::ServiceClient	get_joint_pose_client_
ros::ServiceClient	get_kinematics_pose_client_
ros::ServiceClient	get_module_control_client_
ros::ServiceClient	humanoid_footstep_client_
std::map< int, std::string >	id_joint_table_
std::map< int, std::string >	index_mode_table_
int	init_argc_
char **	init_argv_
ros::Subscriber	init_ft_foot_sub_
ros::Publisher	init_ft_pub_
ros::Publisher	init_pose_pub_
boost::shared_ptr< interactive_markers::InteractiveMarkerServer >	interactive_marker_server_
std::map< std::string, int >	joint_id_table_
ros::Subscriber	kenematics_pose_sub_
QStringListModel	logging_model_
std::string	marker_name_
ros::Publisher	marker_pub_
std::map< std::string, int >	mode_index_table_
ros::Publisher	module_control_preset_pub_
ros::Publisher	module_control_pub_
ros::Publisher	motion_index_pub_
ros::Publisher	motion_page_pub_
ros::Publisher	move_lidar_pub_
geometry_msgs::Pose	pose_from_ui_
ros::Subscriber	pose_sub_
std::vector< geometry_msgs::Pose2D >	preview_foot_steps_
std::vector< int >	preview_foot_types_
ros::Subscriber	rviz_clicked_point_sub_
ros::Publisher	send_des_joint_msg_pub_
ros::Publisher	send_gripper_pub_
ros::Publisher	send_ik_msg_pub_
ros::Publisher	send_ini_pose_msg_pub_
ros::ServiceClient	set_balance_param_client_
thormang3_walking_module_msgs::SetBalanceParam	set_balance_param_srv_
ros::Publisher	set_head_joint_angle_pub_
ros::ServiceClient	set_joint_feedback_gain_client_
thormang3_walking_module_msgs::SetJointFeedBackGain	set_joint_feedback_gain_srv_
ros::Publisher	set_walking_balance_pub_
ros::Publisher	set_walking_command_pub_
ros::Publisher	set_walking_footsteps_pub_
ros::Time	start_time_
ros::Subscriber	status_msg_sub_
std::map< std::string, bool >	using_mode_table_

Static Private Attributes
static const double	DEGREE2RADIAN = M_PI / 180.0
static const double	RADIAN2DEGREE = 180.0 / M_PI

Detailed Description

Definition at line 83 of file qnode.hpp.

Member Enumeration Documentation

enum thormang3_demo::QNodeThor3::Control_Index

private

Enumerator
MODE_UI
WALKING_UI
MANIPULATION_UI
HEAD_CONTROL_UI
MOTION_UI
DEMO_UI

Definition at line 193 of file qnode.hpp.

enum thormang3_demo::QNodeThor3::LogLevel

Enumerator
Debug
Info
Warn
Error
Fatal

Definition at line 88 of file qnode.hpp.

Constructor & Destructor Documentation

thormang3_demo::QNodeThor3::QNodeThor3	(	int	argc,
		char **	argv
	)

Definition at line 36 of file qnode.cpp.

thormang3_demo::QNodeThor3::~QNodeThor3 ( )

virtual

Definition at line 55 of file qnode.cpp.

Member Function Documentation

void thormang3_demo::QNodeThor3::assembleLidar

(

)

Definition at line 386 of file qnode.cpp.

void thormang3_demo::QNodeThor3::clearFootsteps

(

)

Definition at line 783 of file qnode.cpp.

void thormang3_demo::QNodeThor3::clearInteractiveMarker

(

)

Definition at line 1487 of file qnode.cpp.

void thormang3_demo::QNodeThor3::clearLog

(

)

Definition at line 1621 of file qnode.cpp.

void thormang3_demo::QNodeThor3::clearUsingModule

(

)

Definition at line 342 of file qnode.cpp.

void thormang3_demo::QNodeThor3::enableControlModule

(

const std::string &

mode

)

Definition at line 396 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::getIDFromJointName	(	const std::string &	joint_name,
		int &	id
	)

Definition at line 275 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::getIDJointNameFromIndex	(	const int &	index,
		int &	id,
		std::string &	joint_name
	)

Definition at line 288 of file qnode.cpp.

void thormang3_demo::QNodeThor3::getInteractiveMarkerPose

(

)

Definition at line 1470 of file qnode.cpp.

void thormang3_demo::QNodeThor3::getJointControlModule ( )

slot

Definition at line 409 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::getJointNameFromID	(	const int &	id,
		std::string &	joint_name
	)

Definition at line 262 of file qnode.cpp.

void thormang3_demo::QNodeThor3::getJointPose ( std::string  joint_name )

slot

Definition at line 604 of file qnode.cpp.

int thormang3_demo::QNodeThor3::getJointTableSize

(

)

Definition at line 337 of file qnode.cpp.

void thormang3_demo::QNodeThor3::getKinematicsPose ( std::string  group_name )

slot

Definition at line 638 of file qnode.cpp.

void thormang3_demo::QNodeThor3::getKinematicsPoseCallback ( const geometry_msgs::Pose::ConstPtr &  msg )

slot

Definition at line 684 of file qnode.cpp.

int thormang3_demo::QNodeThor3::getModuleIndex

(

const std::string &

mode_name

)

Definition at line 319 of file qnode.cpp.

std::string thormang3_demo::QNodeThor3::getModuleName

(

const int &

index

)

Definition at line 307 of file qnode.cpp.

int thormang3_demo::QNodeThor3::getModuleTableSize

(

)

Definition at line 331 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::init

(

)

Definition at line 66 of file qnode.cpp.

void thormang3_demo::QNodeThor3::initFTCommand

(

std::string

command

)

Definition at line 377 of file qnode.cpp.

void thormang3_demo::QNodeThor3::initFTFootCallback ( const thormang3_feet_ft_module_msgs::BothWrench::ConstPtr &  msg )

private

Definition at line 536 of file qnode.cpp.

void thormang3_demo::QNodeThor3::interactiveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback )

private

Definition at line 1276 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::isUsingModule

(

const std::string &

module_name

)

Definition at line 349 of file qnode.cpp.

void thormang3_demo::QNodeThor3::kickDemo

(

const std::string &

kick_foot

)

Definition at line 1496 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::loadBalanceParameterFromYaml ( )

private

Definition at line 988 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::loadFeedbackGainFromYaml ( )

private

Definition at line 1110 of file qnode.cpp.

void thormang3_demo::QNodeThor3::log	(	const LogLevel &	level,
		const std::string &	msg,
		std::string	sender = "Demo"
	)

Definition at line 1559 of file qnode.cpp.

QStringListModel* thormang3_demo::QNodeThor3::loggingModel ( )

inline

Definition at line 110 of file qnode.hpp.

void thormang3_demo::QNodeThor3::loggingUpdated ( )

signal

void thormang3_demo::QNodeThor3::makeFootstepUsingPlanner

(

)

Definition at line 792 of file qnode.cpp.

void thormang3_demo::QNodeThor3::makeFootstepUsingPlanner

(

const geometry_msgs::Pose &

target_foot_pose

)

Definition at line 797 of file qnode.cpp.

void thormang3_demo::QNodeThor3::makeInteractiveMarker

(

const geometry_msgs::Pose &

marker_pose

)

Definition at line 1309 of file qnode.cpp.

void thormang3_demo::QNodeThor3::manipulationDemo

(

const int &

index

)

void thormang3_demo::QNodeThor3::moveInitPose

(

)

Definition at line 367 of file qnode.cpp.

void thormang3_demo::QNodeThor3::parseJointNameFromYaml ( const std::string &  path )

private

Definition at line 173 of file qnode.cpp.

void thormang3_demo::QNodeThor3::parseMotionMapFromYaml ( const std::string &  path )

private

Definition at line 232 of file qnode.cpp.

void thormang3_demo::QNodeThor3::playMotion	(	int	motion_index,
		bool	to_action_script = true
	)

Definition at line 1204 of file qnode.cpp.

void thormang3_demo::QNodeThor3::pointStampedCallback ( const geometry_msgs::PointStamped::ConstPtr &  msg )

private

Definition at line 1266 of file qnode.cpp.

void thormang3_demo::QNodeThor3::poseCallback ( const geometry_msgs::Pose::ConstPtr &  msg )

private

Definition at line 1240 of file qnode.cpp.

void thormang3_demo::QNodeThor3::refreshCurrentJointControlCallback ( const robotis_controller_msgs::JointCtrlModule::ConstPtr &  msg )

private

Definition at line 464 of file qnode.cpp.

void thormang3_demo::QNodeThor3::rosShutdown ( )

signal

void thormang3_demo::QNodeThor3::run

(

)

Definition at line 157 of file qnode.cpp.

void thormang3_demo::QNodeThor3::sendDestJointMsg

(

thormang3_manipulation_module_msgs::JointPose

msg

)

Definition at line 567 of file qnode.cpp.

void thormang3_demo::QNodeThor3::sendGripperPosition

(

sensor_msgs::JointState

msg

)

Definition at line 598 of file qnode.cpp.

void thormang3_demo::QNodeThor3::sendIkMsg

(

thormang3_manipulation_module_msgs::KinematicsPose

msg

)

Definition at line 580 of file qnode.cpp.

void thormang3_demo::QNodeThor3::sendInitPoseMsg

(

std_msgs::String

msg

)

Definition at line 560 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setBalanceParameter ( )

private

Definition at line 959 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setCurrentControlUI ( int  mode )

slot

Definition at line 359 of file qnode.cpp.

bool thormang3_demo::QNodeThor3::setFeedBackGain

(

)

Definition at line 1073 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setHeadJoint	(	double	pan,
		double	tilt
	)

Definition at line 546 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setWalkingBalance

(

bool

on_command

)

Definition at line 706 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setWalkingBalanceParam	(	const double &	gyro_gain,
		const double &	ft_gain_ratio,
		const double &	imu_time_const,
		const double &	ft_time_const
	)

Definition at line 714 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setWalkingCommand

(

thormang3_foot_step_generator::FootStepCommand

msg

)

Definition at line 692 of file qnode.cpp.

void thormang3_demo::QNodeThor3::setWalkingFootsteps

(

)

Definition at line 744 of file qnode.cpp.

void thormang3_demo::QNodeThor3::statusMsgCallback ( const robotis_controller_msgs::StatusMsg::ConstPtr &  msg )

private

Definition at line 1554 of file qnode.cpp.

void thormang3_demo::QNodeThor3::turnOffBalance ( )

private

Definition at line 1170 of file qnode.cpp.

void thormang3_demo::QNodeThor3::turnOnBalance ( )

private

Definition at line 1157 of file qnode.cpp.

void thormang3_demo::QNodeThor3::updateCurrJoint ( double  value )

signal

void thormang3_demo::QNodeThor3::updateCurrOri ( double  x, double  y, double  z, double  w  )

signal

void thormang3_demo::QNodeThor3::updateCurrPos ( double  x, double  y, double  z  )

signal

void thormang3_demo::QNodeThor3::updateDemoPoint ( const geometry_msgs::Point  point )

signal

void thormang3_demo::QNodeThor3::updateDemoPose ( const geometry_msgs::Pose  pose )

signal

void thormang3_demo::QNodeThor3::updateHeadJointsAngle ( double  pan, double  tilt  )

signal

void thormang3_demo::QNodeThor3::updateHeadJointStatesCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 510 of file qnode.cpp.

void thormang3_demo::QNodeThor3::updateInteractiveMarker

(

const geometry_msgs::Pose &

pose

)

Definition at line 1452 of file qnode.cpp.

void thormang3_demo::QNodeThor3::updatePresentJointControlModules ( std::vector< int >  mode )

signal

void thormang3_demo::QNodeThor3::visualizePreviewFootsteps

(

bool

clear

)

Definition at line 869 of file qnode.cpp.

Member Data Documentation

ros::Subscriber thormang3_demo::QNodeThor3::both_ft_foot_sub_

private

Definition at line 244 of file qnode.hpp.

int thormang3_demo::QNodeThor3::current_control_ui_

private

Definition at line 226 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::current_joint_states_sub_

private

Definition at line 254 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::current_module_control_sub_

private

Definition at line 245 of file qnode.hpp.

geometry_msgs::Pose thormang3_demo::QNodeThor3::current_pose_

private

Definition at line 233 of file qnode.hpp.

bool thormang3_demo::QNodeThor3::debug_print_

private

Definition at line 225 of file qnode.hpp.

const double thormang3_demo::QNodeThor3::DEGREE2RADIAN = M_PI / 180.0

staticprivate

Definition at line 203 of file qnode.hpp.

std::string thormang3_demo::QNodeThor3::frame_id_

private

Definition at line 230 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::get_joint_pose_client_

private

Definition at line 261 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::get_kinematics_pose_client_

private

Definition at line 262 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::get_module_control_client_

private

Definition at line 246 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::humanoid_footstep_client_

private

Definition at line 267 of file qnode.hpp.

std::map<int, std::string> thormang3_demo::QNodeThor3::id_joint_table_

private

Definition at line 283 of file qnode.hpp.

std::map<int, std::string> thormang3_demo::QNodeThor3::index_mode_table_

private

Definition at line 285 of file qnode.hpp.

int thormang3_demo::QNodeThor3::init_argc_

private

Definition at line 223 of file qnode.hpp.

char** thormang3_demo::QNodeThor3::init_argv_

private

Definition at line 224 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::init_ft_foot_sub_

private

Definition at line 243 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::init_ft_pub_

private

Definition at line 239 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::init_pose_pub_

private

Definition at line 238 of file qnode.hpp.

boost::shared_ptr<interactive_markers::InteractiveMarkerServer> thormang3_demo::QNodeThor3::interactive_marker_server_

private

Definition at line 234 of file qnode.hpp.

std::map<std::string, int> thormang3_demo::QNodeThor3::joint_id_table_

private

Definition at line 284 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::kenematics_pose_sub_

private

Definition at line 260 of file qnode.hpp.

QStringListModel thormang3_demo::QNodeThor3::logging_model_

private

Definition at line 282 of file qnode.hpp.

std::string thormang3_demo::QNodeThor3::marker_name_

private

Definition at line 231 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::marker_pub_

private

Definition at line 248 of file qnode.hpp.

std::map<std::string, int> thormang3_demo::QNodeThor3::mode_index_table_

private

Definition at line 286 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::module_control_preset_pub_

private

Definition at line 241 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::module_control_pub_

private

Definition at line 240 of file qnode.hpp.

std::map<int, std::string> thormang3_demo::QNodeThor3::module_table_

Definition at line 163 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::motion_index_pub_

private

Definition at line 278 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::motion_page_pub_

private

Definition at line 279 of file qnode.hpp.

std::map<int, std::string> thormang3_demo::QNodeThor3::motion_table_

Definition at line 164 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::move_lidar_pub_

private

Definition at line 252 of file qnode.hpp.

std::string thormang3_demo::QNodeThor3::package_name_

Definition at line 166 of file qnode.hpp.

geometry_msgs::Pose thormang3_demo::QNodeThor3::pose_from_ui_

private

Definition at line 232 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::pose_sub_

private

Definition at line 249 of file qnode.hpp.

std::vector<geometry_msgs::Pose2D> thormang3_demo::QNodeThor3::preview_foot_steps_

private

Definition at line 274 of file qnode.hpp.

std::vector<int> thormang3_demo::QNodeThor3::preview_foot_types_

private

Definition at line 275 of file qnode.hpp.

const double thormang3_demo::QNodeThor3::RADIAN2DEGREE = 180.0 / M_PI

staticprivate

Definition at line 204 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::rviz_clicked_point_sub_

private

Definition at line 229 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::send_des_joint_msg_pub_

private

Definition at line 258 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::send_gripper_pub_

private

Definition at line 264 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::send_ik_msg_pub_

private

Definition at line 259 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::send_ini_pose_msg_pub_

private

Definition at line 257 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::set_balance_param_client_

private

Definition at line 268 of file qnode.hpp.

thormang3_walking_module_msgs::SetBalanceParam thormang3_demo::QNodeThor3::set_balance_param_srv_

private

Definition at line 235 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::set_head_joint_angle_pub_

private

Definition at line 253 of file qnode.hpp.

ros::ServiceClient thormang3_demo::QNodeThor3::set_joint_feedback_gain_client_

private

Definition at line 269 of file qnode.hpp.

thormang3_walking_module_msgs::SetJointFeedBackGain thormang3_demo::QNodeThor3::set_joint_feedback_gain_srv_

private

Definition at line 236 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::set_walking_balance_pub_

private

Definition at line 272 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::set_walking_command_pub_

private

Definition at line 270 of file qnode.hpp.

ros::Publisher thormang3_demo::QNodeThor3::set_walking_footsteps_pub_

private

Definition at line 271 of file qnode.hpp.

ros::Time thormang3_demo::QNodeThor3::start_time_

private

Definition at line 281 of file qnode.hpp.

ros::Subscriber thormang3_demo::QNodeThor3::status_msg_sub_

private

Definition at line 242 of file qnode.hpp.

std::map<std::string, bool> thormang3_demo::QNodeThor3::using_mode_table_

private

Definition at line 287 of file qnode.hpp.

---

The documentation for this class was generated from the following files:

• qnode.hpp
• qnode.cpp