DarwinArmClientAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <darwin_arm_client_alg_node.h>

Inheritance diagram for DarwinArmClientAlgNode:

List of all members.

Public Member Functions
	DarwinArmClientAlgNode (void)
	Constructor.
	~DarwinArmClientAlgNode (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	move_jointsActive ()
void	move_jointsDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	move_jointsFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	move_jointsMakeActionRequest ()
Private Attributes
bool	motion_done
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	move_joints_client_
control_msgs::FollowJointTrajectoryGoal	move_joints_goal_

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Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file darwin_arm_client_alg_node.h.

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Constructor & Destructor Documentation

DarwinArmClientAlgNode::DarwinArmClientAlgNode

(

void

)

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 4 of file darwin_arm_client_alg_node.cpp.

DarwinArmClientAlgNode::~DarwinArmClientAlgNode

(

void

)

Destructor.

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

Definition at line 27 of file darwin_arm_client_alg_node.cpp.

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Member Function Documentation

void DarwinArmClientAlgNode::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< DarwinArmClientAlgorithm >.

Definition at line 142 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::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< DarwinArmClientAlgorithm >.

Definition at line 32 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::move_jointsActive

(

)

[private]

Definition at line 93 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::move_jointsDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		[private]

Definition at line 83 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::move_jointsFeedback

(

const control_msgs::FollowJointTrajectoryFeedbackConstPtr &

feedback

)

[private]

Definition at line 98 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::move_jointsMakeActionRequest

(

)

[private]

Definition at line 116 of file darwin_arm_client_alg_node.cpp.

void DarwinArmClientAlgNode::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< DarwinArmClientAlgorithm >.

Definition at line 135 of file darwin_arm_client_alg_node.cpp.

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Member Data Documentation

bool DarwinArmClientAlgNode::motion_done [private]

Definition at line 65 of file darwin_arm_client_alg_node.h.

actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> DarwinArmClientAlgNode::move_joints_client_ [private]

Definition at line 58 of file darwin_arm_client_alg_node.h.

control_msgs::FollowJointTrajectoryGoal DarwinArmClientAlgNode::move_joints_goal_ [private]

Definition at line 59 of file darwin_arm_client_alg_node.h.

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

• darwin_arm_client_alg_node.h
• darwin_arm_client_alg_node.cpp