dynamics_objects_localization_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 _dynamics_objects_localization_alg_node_h_
00026 #define _dynamics_objects_localization_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "dynamics_objects_localization_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <iri_nav_msgs/PoseWithCovarianceStampedArray.h>
00033 #include <sensor_msgs/LaserScan.h>
00034 #include <std_msgs/String.h>
00035 
00036 // [service client headers]
00037 
00038 // [action server client headers]
00039 
00044 class DynamicsObjectsLocalizationAlgNode : public algorithm_base::IriBaseAlgorithm<DynamicsObjectsLocalizationAlgorithm>
00045 {
00046   private:
00047     // [publisher attributes]
00048     ros::Publisher scan_filtered_publisher_;
00049     sensor_msgs::LaserScan LaserScan_msg_;
00050 
00051     // [subscriber attributes]
00052     ros::Subscriber people_subscriber_;
00053     void people_callback(const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr& msg);
00054     CMutex people_mutex_;
00055     ros::Subscriber scan_subscriber_;
00056     void scan_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
00057     CMutex scan_mutex_;
00058 
00059     // [service attributes]
00060 
00061     // [client attributes]
00062 
00063     // [action server attributes]
00064 
00065     // [action client attributes]
00066 
00067                 // [internal attributes]
00068                 sensor_msgs::LaserScan laser_;
00069                 iri_nav_msgs::PoseWithCovarianceStampedArray people_;
00070 
00071   public:
00078     DynamicsObjectsLocalizationAlgNode(void);
00079 
00086     ~DynamicsObjectsLocalizationAlgNode(void);
00087 
00088   protected:
00101     void mainNodeThread(void);
00102 
00115     void node_config_update(Config &config, uint32_t level);
00116 
00123     void addNodeDiagnostics(void);
00124 
00125     // [diagnostic functions]
00126     
00127     // [test functions]
00128 
00129                 // [working functions]
00130 
00131                 void deleteSegments(void);
00132 };
00133 
00134 #endif


iri_dynamics_objects_localization
Author(s): Ibraim Hernandez
autogenerated on Fri Dec 6 2013 22:24:47