IRI ROS Specific Algorithm Class. More...

#include <safe_cmd_alg_node.h>

Inheritance diagram for SafeCmdAlgNode:

Public Member Functions
	SafeCmdAlgNode (void)
	Constructor.
	~SafeCmdAlgNode (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	cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
float	compute_max_velocity_ (const sensor_msgs::LaserScan::ConstPtr &scan) const
void	front_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	rear_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
CMutex	cmd_vel_mutex_
ros::Publisher	cmd_vel_safe_publisher_
ros::Subscriber	cmd_vel_subscriber_
float	collision_time_
CMutex	front_laser_mutex_
ros::Subscriber	front_laser_subscriber_
geometry_msgs::Twist	last_twist_
float	limit_vel_front_
float	limit_vel_rear_
float	max_vel_front_
float	max_vel_rear_
float	min_dist_
CMutex	rear_laser_mutex_
ros::Subscriber	rear_laser_subscriber_
geometry_msgs::Twist	Twist_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file safe_cmd_alg_node.h.

Constructor & Destructor Documentation

SafeCmdAlgNode::SafeCmdAlgNode ( void )

Constructor.

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

Definition at line 3 of file safe_cmd_alg_node.cpp.

SafeCmdAlgNode::~SafeCmdAlgNode ( void )

Destructor.

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

Definition at line 32 of file safe_cmd_alg_node.cpp.

Member Function Documentation

void SafeCmdAlgNode::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< SafeCmdAlgorithm >.

Definition at line 139 of file safe_cmd_alg_node.cpp.

void SafeCmdAlgNode::cmd_vel_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 66 of file safe_cmd_alg_node.cpp.

float SafeCmdAlgNode::compute_max_velocity_ ( const sensor_msgs::LaserScan::ConstPtr & scan ) const [private]

Definition at line 149 of file safe_cmd_alg_node.cpp.

void SafeCmdAlgNode::front_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 110 of file safe_cmd_alg_node.cpp.

void SafeCmdAlgNode::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< SafeCmdAlgorithm >.

Definition at line 37 of file safe_cmd_alg_node.cpp.

void SafeCmdAlgNode::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< SafeCmdAlgorithm >.

Definition at line 132 of file safe_cmd_alg_node.cpp.

void SafeCmdAlgNode::rear_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 95 of file safe_cmd_alg_node.cpp.