IRI ROS Specific Algorithm Class. More...

#include <feature_map_alg_node.h>

Inheritance diagram for FeatureMapAlgNode:

Public Member Functions
	FeatureMapAlgNode (void)
	Constructor.
	~FeatureMapAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
bool	classifier_update_callback (iri_publish_params::classifier_update_service::Request &req, iri_publish_params::classifier_update_service::Response &res)
void	descs_callback (const normal_descriptor_node::ndesc_pc &ndesc_pc_msg)
Private Attributes
ros::ServiceServer	classifier_updates_service_
sensor_msgs::PointCloud2	cloud_out_
ros::Subscriber	desc_subscriber_
ros::Publisher	heat_map_publisher_
ros::Publisher	last_eval_max_score_publisher_
ros::Publisher	last_eval_min_score_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file feature_map_alg_node.h.

Constructor & Destructor Documentation

FeatureMapAlgNode::FeatureMapAlgNode ( void )

Constructor.

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

Definition at line 4 of file feature_map_alg_node.cpp.

FeatureMapAlgNode::~FeatureMapAlgNode ( void )

Destructor.

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

Definition at line 30 of file feature_map_alg_node.cpp.

Member Function Documentation

void FeatureMapAlgNode::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< FeatureMapAlgorithm >.

Definition at line 95 of file feature_map_alg_node.cpp.

bool FeatureMapAlgNode::classifier_update_callback	(	iri_publish_params::classifier_update_service::Request &	req,
		iri_publish_params::classifier_update_service::Response &	res
	)		`[private]`

Definition at line 69 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::descs_callback ( const normal_descriptor_node::ndesc_pc & ndesc_pc_msg ) [private]

Definition at line 47 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::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< FeatureMapAlgorithm >.

Definition at line 35 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::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< FeatureMapAlgorithm >.

Definition at line 87 of file feature_map_alg_node.cpp.