IRI ROS Specific Algorithm Class. More...

#include <hand_marker_publisher_alg_node.h>

Inheritance diagram for HandMarkerPublisherAlgNode:

Public Member Functions
	HandMarkerPublisherAlgNode (void)
	Constructor.
	~HandMarkerPublisherAlgNode (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 Attributes
std::vector< double >	angles
CSegwayArmKinematics *	arm
int	arm_id
tf::StampedTransform	echo_transform
bool	first_time
ros::Publisher	hand_marker_IK_FK_publisher_
ros::Publisher	hand_marker_publisher_
ros::Publisher	hand_marker_shoulder_publisher_
ros::Publisher	hand_marker_workspace_publisher_
char	hand_tf [30]
tf::TransformListener	listener
visualization_msgs::Marker	Marker_IK_FK_msg_
visualization_msgs::Marker	Marker_msg_
visualization_msgs::Marker	Marker_shoulder_msg_
visualization_msgs::Marker	Marker_workspace_msg_
std::vector< double >	pose
tf::Vector3	v
float	x
float	y
float	z

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file hand_marker_publisher_alg_node.h.

Constructor & Destructor Documentation

HandMarkerPublisherAlgNode::HandMarkerPublisherAlgNode ( void )

Constructor.

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

Definition at line 3 of file hand_marker_publisher_alg_node.cpp.

HandMarkerPublisherAlgNode::~HandMarkerPublisherAlgNode ( void )

Destructor.

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

Definition at line 73 of file hand_marker_publisher_alg_node.cpp.

Member Function Documentation

void HandMarkerPublisherAlgNode::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< HandMarkerPublisherAlgorithm >.

Definition at line 406 of file hand_marker_publisher_alg_node.cpp.

void HandMarkerPublisherAlgNode::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< HandMarkerPublisherAlgorithm >.

Definition at line 78 of file hand_marker_publisher_alg_node.cpp.

void HandMarkerPublisherAlgNode::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< HandMarkerPublisherAlgorithm >.

Definition at line 399 of file hand_marker_publisher_alg_node.cpp.