GetBoardInformationAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <get_board_information_alg.h>

List of all members.

Public Types
typedef iri_clean_board::GetBoardInformationConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	GetBoardInformationAlgorithm (void)
	constructor
sensor_msgs::Image	getCurrentBelieveColors ()
	Joins state believe and current Image.
sensor_msgs::Image	joinImageAndBelieve (const sensor_msgs::Image current_image_msg)
	Joins state believe and current Image.
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
void	updateCurrentBelieve (const sensor_msgs::Image::ConstPtr &current_image_msg)
	Update state believe.
void	updateUnreachableZones (const estirabot_msgs::ImagePoint::ConstPtr &point)
	Update inaccessible parts of the image.
	~GetBoardInformationAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
int	believe_decrease
int	believe_increase
int	believe_threshold
cv::Mat	current_believe
bool	remove_unreachable_points
cv::Mat	unreachable_zones

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 42 of file get_board_information_alg.h.

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Member Typedef Documentation

typedef iri_clean_board::GetBoardInformationConfig GetBoardInformationAlgorithm::Config

define config type

Define a Config type with the GetBoardInformationConfig. All driver implementations will then use the same variable type Config.

Definition at line 69 of file get_board_information_alg.h.

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Constructor & Destructor Documentation

GetBoardInformationAlgorithm::GetBoardInformationAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 5 of file get_board_information_alg.cpp.

GetBoardInformationAlgorithm::~GetBoardInformationAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 11 of file get_board_information_alg.cpp.

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Member Function Documentation

void GetBoardInformationAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 15 of file get_board_information_alg.cpp.

sensor_msgs::Image GetBoardInformationAlgorithm::getCurrentBelieveColors

(

)

Joins state believe and current Image.

Returns the part of the image which belongs to believe Also remove inaccessible parts of the image

Definition at line 127 of file get_board_information_alg.cpp.

sensor_msgs::Image GetBoardInformationAlgorithm::joinImageAndBelieve

(

const sensor_msgs::Image

current_image_msg

)

Joins state believe and current Image.

Returns the part of the image which belongs to believe Also remove inaccessible parts of the image

Definition at line 90 of file get_board_information_alg.cpp.

void GetBoardInformationAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 94 of file get_board_information_alg.h.

bool GetBoardInformationAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 110 of file get_board_information_alg.h.

void GetBoardInformationAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 101 of file get_board_information_alg.h.

void GetBoardInformationAlgorithm::updateCurrentBelieve

(

const sensor_msgs::Image::ConstPtr &

current_image_msg

)

Update state believe.

Update state believe with a new image

Definition at line 32 of file get_board_information_alg.cpp.

void GetBoardInformationAlgorithm::updateUnreachableZones

(

const estirabot_msgs::ImagePoint::ConstPtr &

point

)

Update inaccessible parts of the image.

Add the selected position and its proximity to the inaccessible parts

Definition at line 82 of file get_board_information_alg.cpp.

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Member Data Documentation

CMutex GetBoardInformationAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the GetBoardInformationConfig. All driver implementations will then use the same variable type Config.

Definition at line 51 of file get_board_information_alg.h.

int GetBoardInformationAlgorithm::believe_decrease [protected]

Definition at line 58 of file get_board_information_alg.h.

int GetBoardInformationAlgorithm::believe_increase [protected]

Definition at line 57 of file get_board_information_alg.h.

int GetBoardInformationAlgorithm::believe_threshold [protected]

Definition at line 59 of file get_board_information_alg.h.

Config GetBoardInformationAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 77 of file get_board_information_alg.h.

cv::Mat GetBoardInformationAlgorithm::current_believe [protected]

Definition at line 54 of file get_board_information_alg.h.

bool GetBoardInformationAlgorithm::remove_unreachable_points [protected]

Definition at line 60 of file get_board_information_alg.h.

cv::Mat GetBoardInformationAlgorithm::unreachable_zones [protected]

Definition at line 55 of file get_board_information_alg.h.

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The documentation for this class was generated from the following files:

• get_board_information_alg.h
• get_board_information_alg.cpp