00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _zyonz_geometric_based_single_leaf_probing_alg_node_h_ 00026 #define _zyonz_geometric_based_single_leaf_probing_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "zyonz_geometric_based_single_leaf_probing_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 #include <zyonz_msgs/GetProbingSteps.h> 00035 00036 // [action server client headers] 00037 00042 class ZyonzGeometricBasedSingleLeafProbingAlgNode : public algorithm_base::IriBaseAlgorithm<ZyonzGeometricBasedSingleLeafProbingAlgorithm> 00043 { 00044 private: 00045 // [publisher attributes] 00046 ros::Publisher pose_publisher_; 00047 ros::Publisher output_marker_publisher_; 00048 00049 // [subscriber attributes] 00050 00051 // [service attributes] 00052 ros::ServiceServer get_leaf_probing_server_; 00053 bool get_leaf_probingCallback(zyonz_msgs::GetProbingSteps::Request &req, zyonz_msgs::GetProbingSteps::Response &res); 00054 CMutex get_leaf_probing_mutex_; 00055 00056 // [client attributes] 00057 00058 // [action server attributes] 00059 00060 // [action client attributes] 00061 00062 public: 00069 ZyonzGeometricBasedSingleLeafProbingAlgNode(void); 00070 00077 ~ZyonzGeometricBasedSingleLeafProbingAlgNode(void); 00078 00079 protected: 00092 void mainNodeThread(void); 00093 00106 void node_config_update(Config &config, uint32_t level); 00107 00114 void addNodeDiagnostics(void); 00115 00116 // [diagnostic functions] 00117 00118 // [test functions] 00119 }; 00120 00121 #endif