IRI ROS Specific Algorithm Class. More...

#include <wam_tcp_ik_alg_node.h>

Inheritance diagram for WamTcpIkAlgNode:

Public Member Functions
	WamTcpIkAlgNode (void)
	Constructor.
	~WamTcpIkAlgNode (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	get_ikCallback (iri_wam_common_msgs::wamInverseKinematics::Request &req, iri_wam_common_msgs::wamInverseKinematics::Response &res)
bool	get_robotPoseCallback (iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Request &req, iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Response &res)
Private Attributes
iri_wam_common_msgs::wamInverseKinematics	base_pose_msg_
ros::ServiceClient	get_ik_client_
CMutex	get_ik_mutex_
ros::ServiceServer	get_ik_server_
iri_wam_common_msgs::wamInverseKinematics	get_ik_srv_
CMutex	get_robot_pose_mutex_
ros::ServiceServer	get_robot_pose_server_
tf::TransformListener	listener_
std::string	robot_base_str_
std::string	robot_tcp_str_
tf::StampedTransform	tcp_H_wam7_
std::string	tool_tcp_str_
tf::StampedTransform	world_H_wam7_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file wam_tcp_ik_alg_node.h.

Constructor & Destructor Documentation

WamTcpIkAlgNode::WamTcpIkAlgNode ( void )

Constructor.

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

Definition at line 3 of file wam_tcp_ik_alg_node.cpp.

WamTcpIkAlgNode::~WamTcpIkAlgNode ( void )

Destructor.

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

Definition at line 30 of file wam_tcp_ik_alg_node.cpp.

Member Function Documentation

void WamTcpIkAlgNode::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< WamTcpIkAlgorithm >.

Definition at line 301 of file wam_tcp_ik_alg_node.cpp.

bool WamTcpIkAlgNode::get_ikCallback	(	iri_wam_common_msgs::wamInverseKinematics::Request &	req,
		iri_wam_common_msgs::wamInverseKinematics::Response &	res
	)		`[private]`

Definition at line 59 of file wam_tcp_ik_alg_node.cpp.

bool WamTcpIkAlgNode::get_robotPoseCallback	(	iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Request &	req,
		iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Response &	res
	)		`[private]`

Definition at line 183 of file wam_tcp_ik_alg_node.cpp.

void WamTcpIkAlgNode::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< WamTcpIkAlgorithm >.

Definition at line 35 of file wam_tcp_ik_alg_node.cpp.

void WamTcpIkAlgNode::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< WamTcpIkAlgorithm >.

Definition at line 286 of file wam_tcp_ik_alg_node.cpp.