00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _transform_pose_alg_node_h_ 00026 #define _transform_pose_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "transform_pose_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 #include <estirabot_msgs/TransformPose.h> 00035 00036 // [action server client headers] 00037 00038 // tf 00039 #include <tf/transform_listener.h> 00040 00045 class TransformPoseAlgNode : public algorithm_base::IriBaseAlgorithm<TransformPoseAlgorithm> 00046 { 00047 private: 00048 // [publisher attributes] 00049 00050 // [subscriber attributes] 00051 00052 // [service attributes] 00053 ros::ServiceServer transform_pose_server_; 00054 bool transform_poseCallback(estirabot_msgs::TransformPose::Request &req, estirabot_msgs::TransformPose::Response &res); 00055 CMutex transform_pose_mutex_; 00056 00057 // [client attributes] 00058 00059 // [action server attributes] 00060 00061 // [action client attributes] 00062 00063 // other 00064 tf::TransformListener tf_listener; 00065 00066 public: 00073 TransformPoseAlgNode(void); 00074 00081 ~TransformPoseAlgNode(void); 00082 00083 protected: 00096 void mainNodeThread(void); 00097 00110 void node_config_update(Config &config, uint32_t level); 00111 00118 void addNodeDiagnostics(void); 00119 00120 // [diagnostic functions] 00121 00122 // [test functions] 00123 }; 00124 00125 #endif