IRI ROS Specific Algorithm Class. More...

#include <teo_hri_teleop_alg_node.h>

Inheritance diagram for TeoHriTeleopAlgNode:

Public Member Functions
	TeoHriTeleopAlgNode (void)
	Constructor.
	~TeoHriTeleopAlgNode (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
bool	useExtraButton (const unsigned int &index)
Private Member Functions
void	joy_callback (const sensor_msgs::Joy::ConstPtr &msg)
Private Attributes
ros::ServiceClient	get_3d_scan_client_
iri_hokuyo_laser3d::Get3DScan	get_3d_scan_srv_
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
std::vector< int >	prev_buttons_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file teo_hri_teleop_alg_node.h.

Constructor & Destructor Documentation

TeoHriTeleopAlgNode::TeoHriTeleopAlgNode ( void )

Constructor.

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

Definition at line 5 of file teo_hri_teleop_alg_node.cpp.

TeoHriTeleopAlgNode::~TeoHriTeleopAlgNode ( void )

Destructor.

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

Definition at line 26 of file teo_hri_teleop_alg_node.cpp.

Member Function Documentation

void TeoHriTeleopAlgNode::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< TeoHriTeleopAlgorithm >.

Definition at line 165 of file teo_hri_teleop_alg_node.cpp.

void TeoHriTeleopAlgNode::joy_callback ( const sensor_msgs::Joy::ConstPtr & msg ) [private]

Definition at line 43 of file teo_hri_teleop_alg_node.cpp.

void TeoHriTeleopAlgNode::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< TeoHriTeleopAlgorithm >.

Definition at line 31 of file teo_hri_teleop_alg_node.cpp.

void TeoHriTeleopAlgNode::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< TeoHriTeleopAlgorithm >.

Definition at line 158 of file teo_hri_teleop_alg_node.cpp.

bool TeoHriTeleopAlgNode::useExtraButton ( const unsigned int & index ) [protected]

Definition at line 74 of file teo_hri_teleop_alg_node.cpp.