IRI ROS Specific Algorithm Class. More...

#include <average_point_cloud_alg_node.h>

Inheritance diagram for AveragePointCloudAlgNode:

Public Member Functions
	AveragePointCloudAlgNode (void)
	Constructor.
	~AveragePointCloudAlgNode (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 Types
typedef pcl::PointXYZRGB	Point
typedef pcl::PointCloud< Point >	PointCloud
Private Member Functions
void	input_callback (const sensor_msgs::PointCloud2ConstPtr &msg)
Private Attributes
boost::circular_buffer < sensor_msgs::PointCloud2, Eigen::aligned_allocator < sensor_msgs::PointCloud2 > >	cloudBuffer_
int	iBuffer_
int	iCurrent_
bool	init_
CMutex	input_mutex_
sensor_msgs::PointCloud2	pcl2_current_msg_
sensor_msgs::PointCloud2	pcl2_final_msg_
ros::Publisher	pcl2_pub_
ros::Subscriber	pcl2_sub_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 63 of file average_point_cloud_alg_node.h.

Member Typedef Documentation

typedef pcl::PointXYZRGB AveragePointCloudAlgNode::Point [private]

Definition at line 67 of file average_point_cloud_alg_node.h.

typedef pcl::PointCloud<Point> AveragePointCloudAlgNode::PointCloud [private]

Definition at line 68 of file average_point_cloud_alg_node.h.

Constructor & Destructor Documentation

AveragePointCloudAlgNode::AveragePointCloudAlgNode ( void )

Constructor.

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

Definition at line 5 of file average_point_cloud_alg_node.cpp.

AveragePointCloudAlgNode::~AveragePointCloudAlgNode ( void )

Destructor.

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

Definition at line 27 of file average_point_cloud_alg_node.cpp.

Member Function Documentation

void AveragePointCloudAlgNode::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< AveragePointCloudAlgorithm >.

Definition at line 148 of file average_point_cloud_alg_node.cpp.

void AveragePointCloudAlgNode::input_callback ( const sensor_msgs::PointCloud2ConstPtr & msg ) [private]

Definition at line 47 of file average_point_cloud_alg_node.cpp.

void AveragePointCloudAlgNode::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< AveragePointCloudAlgorithm >.

Definition at line 32 of file average_point_cloud_alg_node.cpp.

void AveragePointCloudAlgNode::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< AveragePointCloudAlgorithm >.

Definition at line 128 of file average_point_cloud_alg_node.cpp.

Member Data Documentation

boost::circular_buffer<sensor_msgs::PointCloud2, Eigen::aligned_allocator<sensor_msgs::PointCloud2> > AveragePointCloudAlgNode::cloudBuffer_ [private]

Definition at line 70 of file average_point_cloud_alg_node.h.

int AveragePointCloudAlgNode::iBuffer_ [private]

Definition at line 73 of file average_point_cloud_alg_node.h.

int AveragePointCloudAlgNode::iCurrent_ [private]

Definition at line 74 of file average_point_cloud_alg_node.h.

bool AveragePointCloudAlgNode::init_ [private]

Definition at line 72 of file average_point_cloud_alg_node.h.

CMutex AveragePointCloudAlgNode::input_mutex_ [private]

Definition at line 86 of file average_point_cloud_alg_node.h.

sensor_msgs::PointCloud2 AveragePointCloudAlgNode::pcl2_current_msg_ [private]

Definition at line 82 of file average_point_cloud_alg_node.h.

sensor_msgs::PointCloud2 AveragePointCloudAlgNode::pcl2_final_msg_ [private]