camera_object_learner_alg_node.h
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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 _camera_object_learner_alg_node_h_
00026 #define _camera_object_learner_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "camera_object_learner_alg.h"
00030 #include <image_transport/image_transport.h>
00031 
00032 // [publisher subscriber headers]
00033 
00034 // [service client headers]
00035 #include <iri_camera_object_learner_server/init.h>
00036 
00037 // [action server client headers]
00038 
00039 
00044 class CameraObjectLearnerAlgNode : public algorithm_base::IriBaseAlgorithm<CameraObjectLearnerAlgorithm>
00045 {
00046   private:
00047     // [publisher attributes]
00048     //image_transport::ImageTransport it;
00049     image_transport::Publisher image_publisher;
00050     sensor_msgs::ImagePtr output_image;
00051 
00052     // [subscriber attributes]
00053     image_transport::ImageTransport it;
00054     image_transport::Subscriber camera_subscriber;
00055     void image_callback(const sensor_msgs::ImageConstPtr& image_msg);
00056     sensor_msgs::ImageConstPtr input_image;
00057 
00058     // [service attributes]
00059 
00060     // [client attributes]
00061     ros::ServiceClient init_client;
00062     iri_camera_object_learner_server::init init_srv;
00063 
00064     // [action server attributes]
00065 
00066     // [action client attributes]
00067 
00068     bool receiving_images;
00069     bool init_ok;
00070     cv::Rect init_rect;
00071 
00072   public:
00079     CameraObjectLearnerAlgNode(void);
00080 
00087     ~CameraObjectLearnerAlgNode(void);
00088 
00089   protected:
00102     void mainNodeThread(void);
00103 
00116     void node_config_update(Config &config, uint32_t level);
00117 
00124     void addNodeDiagnostics(void);
00125 
00126     // [diagnostic functions]
00127     
00128     // [test functions]
00129 };
00130 
00131 #endif


iri_camera_object_learner
Author(s): fherrero
autogenerated on Fri Dec 6 2013 22:59:46