walk_analyzer_node.cpp
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00001 #include <vigir_walk_monitor/walk_analyzer_node.h>
00002 
00003 namespace vigir_footstep_planning
00004 {
00005 WalkAnalyzerNode::WalkAnalyzerNode(ros::NodeHandle& nh, WalkAnalyzer::Ptr walk_anaylzer)
00006   : walk_analyzer(walk_anaylzer)
00007 {
00008   // subscribe topics, note: set large queue size to enable replaying bag files instant
00009   execute_step_plan_goal_sub = nh.subscribe("execute_step_plan/goal", 0, &WalkAnalyzer::executeStepPlanGoalCallback, walk_analyzer.get());
00010   execute_step_plan_result_sub = nh.subscribe("execute_step_plan/result", 0, &WalkAnalyzer::executeStepPlanResultCallback, walk_analyzer.get());
00011   step_feedback_sub = nh.subscribe("step_feedback", 0, &WalkAnalyzer::stepFeedbackCallback, walk_analyzer.get());
00012 }
00013 
00014 WalkAnalyzerNode::WalkAnalyzerNode(ros::NodeHandle& nh)
00015   : WalkAnalyzerNode(nh, WalkAnalyzer::Ptr(new WalkAnalyzer(nh)))
00016 {
00017 }
00018 
00019 WalkAnalyzerNode::~WalkAnalyzerNode()
00020 {
00021 }
00022 }
00023 
00024 int main (int argc, char **argv)
00025 {
00026   ros::init(argc, argv, "walk_analyzer_node");
00027   ros::NodeHandle nh;
00028   vigir_footstep_planning::WalkAnalyzerNode walk_analyzer_node(nh);
00029   ros::spin();
00030 
00031   return 0;
00032 }


vigir_walk_monitor
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:56