IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_haod_alg_node.h>

Inheritance diagram for TibiDaboHaodAlgNode:

Public Member Functions
	TibiDaboHaodAlgNode (void)
	Constructor.
	~TibiDaboHaodAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	execute_hri_action (hri_actions action)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	follow_targetActive ()
void	follow_targetDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void	follow_targetFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void	follow_targetMakeActionRequest ()
void	haod_serverGetFeedbackCallback (tibi_dabo_msgs::haodFeedbackPtr &feedback)
void	haod_serverGetResultCallback (tibi_dabo_msgs::haodResultPtr &result)
bool	haod_serverHasSucceedCallback (void)
bool	haod_serverIsFinishedCallback (void)
void	haod_serverStartCallback (const tibi_dabo_msgs::haodGoalConstPtr &goal)
void	haod_serverStopCallback (void)
void	hri_clientActive ()
void	hri_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hri_clientFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hri_clientMakeActionRequest ()
void	joy_callback (const sensor_msgs::Joy::ConstPtr &msg)
Private Attributes
actionlib::SimpleActionClient < iri_nav_msgs::followTargetAction >	follow_target_client_
iri_nav_msgs::followTargetGoal	follow_target_goal_
ros::ServiceClient	haod_detect_client_
iri_human_assisted_object_detection::haod_detect	haod_detect_srv_
ros::ServiceClient	haod_init_client_
iri_human_assisted_object_detection::haod_init	haod_init_srv_
ros::ServiceClient	haod_learn_client_
iri_human_assisted_object_detection::haod_learn	haod_learn_srv_
bool	haod_need_help
IriActionServer < tibi_dabo_msgs::haodAction >	haod_server_aserver_
bool	hri_action_done
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_client_
tibi_dabo_msgs::sequenceGoal	hri_client_goal_
int	init_x
int	init_y
trajectory_msgs::JointTrajectoryPoint	JointTrajectoryPoint_msg_
joy_actions	joy_action
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
languages	language
bool	new_haod_action
bool	new_joy_msg
bool	stop_haod
ros::Publisher	target_joints_publisher_
bool	tracking_head

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file tibi_dabo_haod_alg_node.h.

Constructor & Destructor Documentation

TibiDaboHaodAlgNode::TibiDaboHaodAlgNode ( void )

Constructor.

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

Definition at line 41 of file tibi_dabo_haod_alg_node.cpp.

TibiDaboHaodAlgNode::~TibiDaboHaodAlgNode ( void )

Destructor.

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

Definition at line 161 of file tibi_dabo_haod_alg_node.cpp.

Member Function Documentation

void TibiDaboHaodAlgNode::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< TibiDaboHaodAlgorithm >.

Definition at line 640 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::execute_hri_action ( hri_actions action ) [protected]

Definition at line 102 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::follow_targetActive ( ) [private]

Definition at line 478 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::follow_targetDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_nav_msgs::followTargetResultConstPtr &	result
	)		`[private]`

Definition at line 467 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::follow_targetFeedback ( const iri_nav_msgs::followTargetFeedbackConstPtr & feedback ) [private]

Definition at line 483 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::follow_targetMakeActionRequest ( ) [private]

Definition at line 596 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::haod_serverGetFeedbackCallback ( tibi_dabo_msgs::haodFeedbackPtr & feedback ) [private]

Definition at line 551 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::haod_serverGetResultCallback ( tibi_dabo_msgs::haodResultPtr & result ) [private]

Definition at line 543 of file tibi_dabo_haod_alg_node.cpp.

bool TibiDaboHaodAlgNode::haod_serverHasSucceedCallback ( void ) [private]

Definition at line 531 of file tibi_dabo_haod_alg_node.cpp.

bool TibiDaboHaodAlgNode::haod_serverIsFinishedCallback ( void ) [private]

Definition at line 519 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::haod_serverStartCallback ( const tibi_dabo_msgs::haodGoalConstPtr & goal ) [private]

Definition at line 499 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::haod_serverStopCallback ( void ) [private]

Definition at line 510 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::hri_clientActive ( ) [private]

Definition at line 573 of file tibi_dabo_haod_alg_node.cpp.

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

Definition at line 562 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::hri_clientFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 578 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::hri_clientMakeActionRequest ( ) [private]

Definition at line 614 of file tibi_dabo_haod_alg_node.cpp.

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

Definition at line 432 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::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< TibiDaboHaodAlgorithm >.

Definition at line 166 of file tibi_dabo_haod_alg_node.cpp.

void TibiDaboHaodAlgNode::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< TibiDaboHaodAlgorithm >.

Definition at line 633 of file tibi_dabo_haod_alg_node.cpp.