IRI ROS Specific Algorithm Class. More...
#include <moped_actionserver_alg_node.h>
Public Member Functions | |
MopedActionserverAlgNode (void) | |
Constructor. | |
~MopedActionserverAlgNode (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 | |
Protected Attributes | |
bool | image_sent |
pr_msgs::ObjectPoseList | result |
Private Member Functions | |
void | mopedGetFeedbackCallback (iri_moped_actionserver::mopedFeedbackPtr &feedback) |
void | mopedGetResultCallback (iri_moped_actionserver::mopedResultPtr &result) |
bool | mopedHasSucceedCallback (void) |
bool | mopedIsFinishedCallback (void) |
void | mopedStartCallback (const iri_moped_actionserver::mopedGoalConstPtr &goal) |
void | mopedStopCallback (void) |
void | object_poses_callback (const pr_msgs::ObjectPoseList::ConstPtr &msg) |
Private Attributes | |
sensor_msgs::Image | Image_msg_ |
ros::Publisher | Image_publisher_ |
IriActionServer < iri_moped_actionserver::mopedAction > | moped_aserver_ |
CMutex | object_poses_mutex_ |
ros::Subscriber | object_poses_subscriber_ |
IRI ROS Specific Algorithm Class.
Definition at line 45 of file moped_actionserver_alg_node.h.
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 3 of file moped_actionserver_alg_node.cpp.
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 32 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::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< MopedActionserverAlgorithm >.
Definition at line 173 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::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< MopedActionserverAlgorithm >.
Definition at line 37 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::mopedGetFeedbackCallback | ( | iri_moped_actionserver::mopedFeedbackPtr & | feedback | ) | [private] |
Definition at line 156 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::mopedGetResultCallback | ( | iri_moped_actionserver::mopedResultPtr & | result | ) | [private] |
Definition at line 146 of file moped_actionserver_alg_node.cpp.
bool MopedActionserverAlgNode::mopedHasSucceedCallback | ( | void | ) | [private] |
Definition at line 133 of file moped_actionserver_alg_node.cpp.
bool MopedActionserverAlgNode::mopedIsFinishedCallback | ( | void | ) | [private] |
Definition at line 120 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::mopedStartCallback | ( | const iri_moped_actionserver::mopedGoalConstPtr & | goal | ) | [private] |
Definition at line 77 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::mopedStopCallback | ( | void | ) | [private] |
Definition at line 102 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::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.
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< MopedActionserverAlgorithm >.
Definition at line 166 of file moped_actionserver_alg_node.cpp.
void MopedActionserverAlgNode::object_poses_callback | ( | const pr_msgs::ObjectPoseList::ConstPtr & | msg | ) | [private] |
Definition at line 51 of file moped_actionserver_alg_node.cpp.
sensor_msgs::Image MopedActionserverAlgNode::Image_msg_ [private] |
Definition at line 50 of file moped_actionserver_alg_node.h.
Definition at line 49 of file moped_actionserver_alg_node.h.
bool MopedActionserverAlgNode::image_sent [protected] |
Definition at line 131 of file moped_actionserver_alg_node.h.
IriActionServer<iri_moped_actionserver::mopedAction> MopedActionserverAlgNode::moped_aserver_ [private] |
Definition at line 62 of file moped_actionserver_alg_node.h.
CMutex MopedActionserverAlgNode::object_poses_mutex_ [private] |
Definition at line 55 of file moped_actionserver_alg_node.h.
Definition at line 53 of file moped_actionserver_alg_node.h.
pr_msgs::ObjectPoseList MopedActionserverAlgNode::result [protected] |
Definition at line 134 of file moped_actionserver_alg_node.h.