Commit bd8e3160 authored by Víctor Silos Sánchez's avatar Víctor Silos Sánchez
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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author
// All rights reserved.
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// GNU Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <>.
// IMPORTANT NOTE: This code has been generated through a script from the
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
#ifndef _foot_alg_node_h_
#define _foot_alg_node_h_
#include <iri_base_algorithm/iri_base_algorithm.h>
#include "foot_alg.h"
#include <tf/transform_listener.h>
// [publisher subscriber headers]
#include <std_msgs/String.h>
// [service client headers]
// [action server client headers]
* \brief IRI ROS Specific Algorithm Class
class FootAlgNode : public algorithm_base::IriBaseAlgorithm<FootAlgorithm>
tf::TransformListener listener;
tf::StampedTransform transform1;
tf::StampedTransform transform2;
tf::StampedTransform transform3;
tf::StampedTransform transform4;
tf::Vector3 rightfoot;
tf::Vector3 leftfoot;
tf::Vector3 leftknee;
tf::Vector3 rightknee;
// [publisher attributes]
// [subscriber attributes]
// [service attributes]
// [client attributes]
// [action server attributes]
// [action client attributes]
* \brief config variable
* This variable has all the driver parameters defined in the cfg config file.
* Is updated everytime function config_update() is called.
Config config_;
* \brief Constructor
* This constructor initializes specific class attributes and all ROS
* communications variables to enable message exchange.
* \brief Destructor
* This destructor frees all necessary dynamic memory allocated within this
* this class.
* \brief 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.
void mainNodeThread(void);
* \brief 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.
* \param config an object with new configuration from all algorithm
* parameters defined in the config file.
* \param level integer referring the level in which the configuration
* has been changed.
void node_config_update(Config &config, uint32_t level);
* \brief node add diagnostics
* In this abstract function additional ROS diagnostics applied to the
* specific algorithms may be added.
void addNodeDiagnostics(void);
// [diagnostic functions]
// [test functions]
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