IRI ROS Specific Algorithm Class. More...

#include <leuze_speed_limit_alg_node.h>

Inheritance diagram for LeuzeSpeedLimitAlgNode:

Public Member Functions
	LeuzeSpeedLimitAlgNode (void)
	Constructor.
	~LeuzeSpeedLimitAlgNode (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	leuze_status_callback (const iri_common_drivers_msgs::leuze_status::ConstPtr &msg)
Private Attributes
ros::ServiceClient	change_speed_client_
iri_diff_local_planner::change_max_vel	change_speed_srv_
ros::ServiceClient	change_zone_client_
iri_common_drivers_msgs::change_wp_pair	change_zone_srv_
pairs_t	current_pair
bool	error
CMutex	leuze_status_mutex_
ros::Subscriber	leuze_status_subscriber_
pairs_t	new_pair
bool	new_status
bool	warning
std::vector< double >	zone_speeds

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file leuze_speed_limit_alg_node.h.

Constructor & Destructor Documentation

LeuzeSpeedLimitAlgNode::LeuzeSpeedLimitAlgNode ( void )

Constructor.

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

Definition at line 3 of file leuze_speed_limit_alg_node.cpp.

LeuzeSpeedLimitAlgNode::~LeuzeSpeedLimitAlgNode ( void )

Destructor.

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

Definition at line 33 of file leuze_speed_limit_alg_node.cpp.

Member Function Documentation

void LeuzeSpeedLimitAlgNode::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< LeuzeSpeedLimitAlgorithm >.

Definition at line 166 of file leuze_speed_limit_alg_node.cpp.

void LeuzeSpeedLimitAlgNode::leuze_status_callback ( const iri_common_drivers_msgs::leuze_status::ConstPtr & msg ) [private]

Definition at line 121 of file leuze_speed_limit_alg_node.cpp.

void LeuzeSpeedLimitAlgNode::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< LeuzeSpeedLimitAlgorithm >.

Definition at line 38 of file leuze_speed_limit_alg_node.cpp.

void LeuzeSpeedLimitAlgNode::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< LeuzeSpeedLimitAlgorithm >.

Definition at line 154 of file leuze_speed_limit_alg_node.cpp.