PradaPlannerAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <prada_planner_alg_node.h>

Inheritance diagram for PradaPlannerAlgNode:

List of all members.

Public Member Functions
	PradaPlannerAlgNode (void)
	Constructor.
	~PradaPlannerAlgNode (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
bool	getBestActionCallback (iri_planning_msgs::PradaPlanSrv::Request &req, iri_planning_msgs::PradaPlanSrv::Response &res)
Private Attributes
bool	board_plan
CMutex	getBestAction_mutex_
ros::ServiceServer	getBestAction_server_

---

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file prada_planner_alg_node.h.

---

Constructor & Destructor Documentation

PradaPlannerAlgNode::PradaPlannerAlgNode

(

void

)

Constructor.

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

Definition at line 3 of file prada_planner_alg_node.cpp.

PradaPlannerAlgNode::~PradaPlannerAlgNode

(

void

)

Destructor.

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

Definition at line 25 of file prada_planner_alg_node.cpp.

---

Member Function Documentation

void PradaPlannerAlgNode::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< PradaPlannerAlgorithm >.

Definition at line 102 of file prada_planner_alg_node.cpp.

bool PradaPlannerAlgNode::getBestActionCallback	(	iri_planning_msgs::PradaPlanSrv::Request &	req,
		iri_planning_msgs::PradaPlanSrv::Response &	res
	)		[private]

Definition at line 44 of file prada_planner_alg_node.cpp.

void PradaPlannerAlgNode::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< PradaPlannerAlgorithm >.

Definition at line 30 of file prada_planner_alg_node.cpp.

void PradaPlannerAlgNode::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< PradaPlannerAlgorithm >.

Definition at line 95 of file prada_planner_alg_node.cpp.

---

Member Data Documentation

bool PradaPlannerAlgNode::board_plan [private]

Definition at line 64 of file prada_planner_alg_node.h.

CMutex PradaPlannerAlgNode::getBestAction_mutex_ [private]

Definition at line 54 of file prada_planner_alg_node.h.

ros::ServiceServer PradaPlannerAlgNode::getBestAction_server_ [private]

Definition at line 52 of file prada_planner_alg_node.h.

---

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

• prada_planner_alg_node.h
• prada_planner_alg_node.cpp