IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_arm_kinematics_alg_node.h>

Inheritance diagram for TibiDaboArmKinematicsAlgNode:

Public Member Functions
	TibiDaboArmKinematicsAlgNode (void)
	Constructor.
	~TibiDaboArmKinematicsAlgNode (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	GetKinematicSolverInfoCallback (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool	GetPositionFKCallback (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool	GetPositionIKCallback (kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res)
Private Attributes
std::vector< double >	angles
CSegwayArmKinematics *	arm
std::string	arm_id
float	arm_length
CMutex	GetKinematicSolverInfo_mutex_
ros::ServiceServer	GetKinematicSolverInfo_server_
CMutex	GetPositionFK_mutex_
ros::ServiceServer	GetPositionFK_server_
CMutex	GetPositionIK_mutex_
ros::ServiceServer	GetPositionIK_server_
std::vector< double >	pose

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file tibi_dabo_arm_kinematics_alg_node.h.

Constructor & Destructor Documentation

TibiDaboArmKinematicsAlgNode::TibiDaboArmKinematicsAlgNode ( void )

Constructor.

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

Definition at line 4 of file tibi_dabo_arm_kinematics_alg_node.cpp.

TibiDaboArmKinematicsAlgNode::~TibiDaboArmKinematicsAlgNode ( void )

Destructor.

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

Definition at line 31 of file tibi_dabo_arm_kinematics_alg_node.cpp.

Member Function Documentation

void TibiDaboArmKinematicsAlgNode::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< TibiDaboArmKinematicsAlgorithm >.

Definition at line 278 of file tibi_dabo_arm_kinematics_alg_node.cpp.

bool TibiDaboArmKinematicsAlgNode::GetKinematicSolverInfoCallback	(	kinematics_msgs::GetKinematicSolverInfo::Request &	req,
		kinematics_msgs::GetKinematicSolverInfo::Response &	res
	)		`[private]`

Definition at line 146 of file tibi_dabo_arm_kinematics_alg_node.cpp.

bool TibiDaboArmKinematicsAlgNode::GetPositionFKCallback	(	kinematics_msgs::GetPositionFK::Request &	req,
		kinematics_msgs::GetPositionFK::Response &	res
	)		`[private]`

Definition at line 214 of file tibi_dabo_arm_kinematics_alg_node.cpp.

bool TibiDaboArmKinematicsAlgNode::GetPositionIKCallback	(	kinematics_msgs::GetPositionIK::Request &	req,
		kinematics_msgs::GetPositionIK::Response &	res
	)		`[private]`

Definition at line 50 of file tibi_dabo_arm_kinematics_alg_node.cpp.

void TibiDaboArmKinematicsAlgNode::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< TibiDaboArmKinematicsAlgorithm >.

Definition at line 36 of file tibi_dabo_arm_kinematics_alg_node.cpp.

void TibiDaboArmKinematicsAlgNode::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< TibiDaboArmKinematicsAlgorithm >.

Definition at line 270 of file tibi_dabo_arm_kinematics_alg_node.cpp.