IRI ROS Specific Algorithm Class. More...

#include <door_cloud_alg_node.h>

Inheritance diagram for DoorCloudAlgNode:

Public Member Functions
	DoorCloudAlgNode (void)
	Constructor.
	~DoorCloudAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
visualization_msgs::Marker	ArrowMarker (std_msgs::Header header, geometry_msgs::Pose pose, int alpha, int color, const char arrow_tag[])
	Arrow Marker.
pcl::PointCloud< pcl::PointXYZ >	filterCloud (pcl::PointCloud< pcl::PointXYZ > raw_cloud, float Lowx, float Uppx, float Lowy, float Uppy, float Lowz, float Uppz, bool negative_limits)
	volume filter for a point cloud
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
boost::tuple< pcl::PointCloud < pcl::PointXYZ > , pcl::PointIndices::Ptr, pcl::ModelCoefficients::Ptr >	planeFit (pcl::PointCloud< pcl::PointXYZ > raw_cloud)
	RANSAC plane fit.
geometry_msgs::Quaternion	quaternionFromVectors (tf::Vector3 vector_1, tf::Vector3 vector_2)
	Quaterion from vectors.
Private Member Functions
void	door_action_start_callback (const std_msgs::Int8::ConstPtr &msg)
void	door_centroid_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	handle_location_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	points_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
int	captured_closed
int	captured_open
sensor_msgs::PointCloud2	closed_door_cloud
ros::Publisher	closed_door_cloud_publisher_
ros::Publisher	closed_door_marker_publisher_
pcl::PointCloud< pcl::PointXYZ >	cloud
pcl::PointCloud< pcl::PointXYZ >	cloud_filtered
pcl::PointCloud< pcl::PointXYZ >	cloud_filtered_left
pcl::PointCloud< pcl::PointXYZ >	cloud_filtered_right
pcl::PointCloud< pcl::PointXYZ >	cloud_filtered_top
pcl::PointCloud< pcl::PointXYZ >	cloud_plane
CMutex	door_action_start_mutex_
ros::Subscriber	door_action_start_subscriber_
CMutex	door_centroid_mutex_
ros::Publisher	door_centroid_publisher_
ros::Subscriber	door_centroid_subscriber_
ros::Publisher	door_handle_publisher_
boost::tuple< pcl::PointCloud < pcl::PointXYZ > , pcl::PointIndices::Ptr, pcl::ModelCoefficients::Ptr >	door_plane
CMutex	handle_location_mutex_
ros::Subscriber	handle_location_subscriber_
float	lower_x
float	lower_y
float	lower_z
visualization_msgs::Marker	marker
visualization_msgs::Marker	Marker_msg_
bool	no_simulator
sensor_msgs::PointCloud2	open_door_cloud
ros::Publisher	open_door_cloud_publisher_
ros::Publisher	open_door_marker_publisher_
geometry_msgs::Quaternion	orient
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	points_mutex_
ros::Subscriber	points_subscriber_
geometry_msgs::PoseStamped	poses
geometry_msgs::PoseStamped	PoseStamped_msg_
int	start
std::string	tf_original_frame
float	upper_x
float	upper_y
float	upper_z
float	w_closed
float	w_open
float	x_closed
float	x_left
float	x_open
float	x_right
float	y_closed
float	y_open
float	y_top
float	z_closed
float	z_open

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 64 of file door_cloud_alg_node.h.

Constructor & Destructor Documentation

DoorCloudAlgNode::DoorCloudAlgNode ( void )

Constructor.

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

Definition at line 3 of file door_cloud_alg_node.cpp.

DoorCloudAlgNode::~DoorCloudAlgNode ( void )

Destructor.

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

Definition at line 44 of file door_cloud_alg_node.cpp.

Member Function Documentation

void DoorCloudAlgNode::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< DoorCloudAlgorithm >.

Definition at line 412 of file door_cloud_alg_node.cpp.

visualization_msgs::Marker DoorCloudAlgNode::ArrowMarker	(	std_msgs::Header	header,
		geometry_msgs::Pose	pose,
		int	alpha,
		int	color,
		const char	arrow_tag[]
	)		`[protected]`

Arrow Marker.

Construct an arrow marker for plane orientation visualization

Definition at line 507 of file door_cloud_alg_node.cpp.

void DoorCloudAlgNode::door_action_start_callback ( const std_msgs::Int8::ConstPtr & msg ) [private]

Definition at line 67 of file door_cloud_alg_node.cpp.

void DoorCloudAlgNode::door_centroid_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 94 of file door_cloud_alg_node.cpp.

pcl::PointCloud< pcl::PointXYZ > DoorCloudAlgNode::filterCloud	(	pcl::PointCloud< pcl::PointXYZ >	raw_cloud,
		float	Lowx,
		float	Uppx,
		float	Lowy,
		float	Uppy,
		float	Lowz,
		float	Uppz,
		bool	negative_limits
	)		`[protected]`

volume filter for a point cloud

Removes points outisde x and z limits

Definition at line 423 of file door_cloud_alg_node.cpp.

void DoorCloudAlgNode::handle_location_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 120 of file door_cloud_alg_node.cpp.

void DoorCloudAlgNode::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< DoorCloudAlgorithm >.

Definition at line 49 of file door_cloud_alg_node.cpp.

void DoorCloudAlgNode::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< DoorCloudAlgorithm >.

Definition at line 403 of file door_cloud_alg_node.cpp.

boost::tuple< pcl::PointCloud< pcl::PointXYZ >, pcl::PointIndices::Ptr, pcl::ModelCoefficients::Ptr > DoorCloudAlgNode::planeFit ( pcl::PointCloud< pcl::PointXYZ > raw_cloud ) [protected]