IRI ROS Specific Algorithm Class. More...

#include <voice_recognition_client_alg_node.h>

Inheritance diagram for VoiceRecognitionClientAlgNode:

Public Member Functions
	VoiceRecognitionClientAlgNode (void)
	Constructor.
	~VoiceRecognitionClientAlgNode (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 Types
enum	clients { TTS_ = 0, LEDS_ = 1, HEAD_ = 2, LEFT_ARM_ = 3, RIGHT_ARM_ = 4 }
Private Member Functions
void	hriActive ()
void	hriDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hriFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hriMakeActionRequest ()
void	voice_recognitionActive ()
void	voice_recognitionDone (const actionlib::SimpleClientGoalState &state, const iri_perception_msgs::voiceRecognitionResultConstPtr &result)
void	voice_recognitionFeedback (const iri_perception_msgs::voiceRecognitionFeedbackConstPtr &feedback)
void	voice_recognitionMakeActionRequest ()
Private Attributes
std::string	answer_
int	code_
ros::Publisher	code_publisher_
bool	hri_action_in_progress
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_
tibi_dabo_msgs::sequenceGoal	hri_goal_
int	lastCode_
int	lastStatus_
bool	voice_recognition_action_in_progress
actionlib::SimpleActionClient < iri_perception_msgs::voiceRecognitionAction >	voice_recognition_client_
bool	voice_recognition_done
iri_perception_msgs::voiceRecognitionGoal	voice_recognition_goal_
iri_perception_msgs::voiceRecognitionAnswer	voiceRecognitionAnswer_msg_
Static Private Attributes
static const int	NUM_CLIENTS = RIGHT_ARM_-TTS_+1

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file voice_recognition_client_alg_node.h.

Member Enumeration Documentation

enum VoiceRecognitionClientAlgNode::clients [private]

Enumerator:

TTS_
LEDS_
HEAD_
LEFT_ARM_
RIGHT_ARM_

Definition at line 82 of file voice_recognition_client_alg_node.h.

Constructor & Destructor Documentation

VoiceRecognitionClientAlgNode::VoiceRecognitionClientAlgNode ( void )

Constructor.

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

Definition at line 3 of file voice_recognition_client_alg_node.cpp.

VoiceRecognitionClientAlgNode::~VoiceRecognitionClientAlgNode ( void )

Destructor.

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

Definition at line 35 of file voice_recognition_client_alg_node.cpp.

Member Function Documentation

void VoiceRecognitionClientAlgNode::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< VoiceRecognitionClientAlgorithm >.

Definition at line 232 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::hriActive ( ) [private]

Definition at line 118 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::hriDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 107 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::hriFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 123 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::hriMakeActionRequest ( ) [private]

Definition at line 185 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::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< VoiceRecognitionClientAlgorithm >.

Definition at line 40 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::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< VoiceRecognitionClientAlgorithm >.

Definition at line 225 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::voice_recognitionActive ( ) [private]

Definition at line 155 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::voice_recognitionDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_perception_msgs::voiceRecognitionResultConstPtr &	result
	)		`[private]`

Definition at line 140 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::voice_recognitionFeedback ( const iri_perception_msgs::voiceRecognitionFeedbackConstPtr & feedback ) [private]

Definition at line 160 of file voice_recognition_client_alg_node.cpp.

void VoiceRecognitionClientAlgNode::voice_recognitionMakeActionRequest ( ) [private]

Definition at line 206 of file voice_recognition_client_alg_node.cpp.