IRI ROS Specific Algorithm Class. More...

#include <apply_tof_calibration_alg_node.h>

Inheritance diagram for ApplyTofCalibrationAlgNode:

Public Member Functions
	ApplyTofCalibrationAlgNode (void)
	Constructor.
	~ApplyTofCalibrationAlgNode (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 Member Functions
bool	get_pointcloudCallback (iri_perception_msgs::CapturePointCloud2::Request &req, iri_perception_msgs::CapturePointCloud2::Response &res)
void	uncalibrated_pcl2_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
ros::Publisher	calibrated_pcl2_publisher_
CMutex	get_pointcloud_mutex_
ros::ServiceServer	get_pointcloud_server_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	uncalibrated_pcl2_mutex_
ros::Subscriber	uncalibrated_pcl2_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file apply_tof_calibration_alg_node.h.

Constructor & Destructor Documentation

ApplyTofCalibrationAlgNode::ApplyTofCalibrationAlgNode ( void )

Constructor.

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

Definition at line 3 of file apply_tof_calibration_alg_node.cpp.

ApplyTofCalibrationAlgNode::~ApplyTofCalibrationAlgNode ( void )

Destructor.

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

Definition at line 26 of file apply_tof_calibration_alg_node.cpp.

Member Function Documentation

void ApplyTofCalibrationAlgNode::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< ApplyTofCalibrationAlgorithm >.

Definition at line 103 of file apply_tof_calibration_alg_node.cpp.

bool ApplyTofCalibrationAlgNode::get_pointcloudCallback	(	iri_perception_msgs::CapturePointCloud2::Request &	req,
		iri_perception_msgs::CapturePointCloud2::Response &	res
	)		`[private]`

Definition at line 70 of file apply_tof_calibration_alg_node.cpp.

void ApplyTofCalibrationAlgNode::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< ApplyTofCalibrationAlgorithm >.

Definition at line 32 of file apply_tof_calibration_alg_node.cpp.

void ApplyTofCalibrationAlgNode::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< ApplyTofCalibrationAlgorithm >.

Definition at line 96 of file apply_tof_calibration_alg_node.cpp.

void ApplyTofCalibrationAlgNode::uncalibrated_pcl2_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 46 of file apply_tof_calibration_alg_node.cpp.