IRI ROS Specific Algorithm Class. More...

#include <dynamics_objects_localization_alg_node.h>

Inheritance diagram for DynamicsObjectsLocalizationAlgNode:

Public Member Functions
	DynamicsObjectsLocalizationAlgNode (void)
	Constructor.
	~DynamicsObjectsLocalizationAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	deleteSegments (void)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	people_callback (const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr &msg)
void	scan_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
sensor_msgs::LaserScan	laser_
sensor_msgs::LaserScan	LaserScan_msg_
iri_nav_msgs::PoseWithCovarianceStampedArray	people_
CMutex	people_mutex_
ros::Subscriber	people_subscriber_
ros::Publisher	scan_filtered_publisher_
CMutex	scan_mutex_
ros::Subscriber	scan_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file dynamics_objects_localization_alg_node.h.

Constructor & Destructor Documentation

DynamicsObjectsLocalizationAlgNode::DynamicsObjectsLocalizationAlgNode ( void )

Constructor.

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

Definition at line 3 of file dynamics_objects_localization_alg_node.cpp.

DynamicsObjectsLocalizationAlgNode::~DynamicsObjectsLocalizationAlgNode ( void )

Destructor.

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

Definition at line 26 of file dynamics_objects_localization_alg_node.cpp.

Member Function Documentation

void DynamicsObjectsLocalizationAlgNode::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< DynamicsObjectsLocalizationAlgorithm >.

Definition at line 94 of file dynamics_objects_localization_alg_node.cpp.

void DynamicsObjectsLocalizationAlgNode::deleteSegments ( void ) [protected]

Definition at line 108 of file dynamics_objects_localization_alg_node.cpp.

void DynamicsObjectsLocalizationAlgNode::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< DynamicsObjectsLocalizationAlgorithm >.

Definition at line 31 of file dynamics_objects_localization_alg_node.cpp.

void DynamicsObjectsLocalizationAlgNode::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< DynamicsObjectsLocalizationAlgorithm >.

Definition at line 87 of file dynamics_objects_localization_alg_node.cpp.

void DynamicsObjectsLocalizationAlgNode::people_callback ( const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr & msg ) [private]

Definition at line 48 of file dynamics_objects_localization_alg_node.cpp.

void DynamicsObjectsLocalizationAlgNode::scan_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 63 of file dynamics_objects_localization_alg_node.cpp.