IRI ROS Specific Algorithm Class. More...

#include <laser_people_area_filter_alg_node.h>

Inheritance diagram for LaserPeopleAreaFilterAlgNode:

Public Member Functions
	LaserPeopleAreaFilterAlgNode (void)
	Constructor.
	~LaserPeopleAreaFilterAlgNode (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
void	getPeopleMarkers (iri_perception_msgs::detectionArray &peopleList, visualization_msgs::MarkerArray &people)
void	people_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
bool	validateByArea (geometry_msgs::PoseStamped pose)
Private Attributes
iri_perception_msgs::detectionArray	detectionArray_msg_
std::string	frame
double	markerA
visualization_msgs::MarkerArray	MarkerArray_msg_
double	markerB
double	markerG
double	markerHeight
double	markerR
double	markerWidth
iri_perception_msgs::detectionArray	people
CMutex	people_mutex_
ros::Subscriber	people_subscriber_
ros::Publisher	peopleFiltered_publisher_
ros::Publisher	peopleMarkers_publisher_
bool	peopleReceived
bool	showArea
tf::TransformListener	tf_listener_
double	xmax
double	xmin
double	ymax
double	ymin

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file laser_people_area_filter_alg_node.h.

Constructor & Destructor Documentation

LaserPeopleAreaFilterAlgNode::LaserPeopleAreaFilterAlgNode ( void )

Constructor.

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

Definition at line 3 of file laser_people_area_filter_alg_node.cpp.

LaserPeopleAreaFilterAlgNode::~LaserPeopleAreaFilterAlgNode ( void )

Destructor.

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

Definition at line 38 of file laser_people_area_filter_alg_node.cpp.

Member Function Documentation

void LaserPeopleAreaFilterAlgNode::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< LaserPeopleAreaFilterAlgorithm >.

Definition at line 134 of file laser_people_area_filter_alg_node.cpp.

void LaserPeopleAreaFilterAlgNode::getPeopleMarkers	(	iri_perception_msgs::detectionArray &	peopleList,
		visualization_msgs::MarkerArray &	people
	)		`[private]`

Definition at line 192 of file laser_people_area_filter_alg_node.cpp.

void LaserPeopleAreaFilterAlgNode::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< LaserPeopleAreaFilterAlgorithm >.

Definition at line 43 of file laser_people_area_filter_alg_node.cpp.

void LaserPeopleAreaFilterAlgNode::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< LaserPeopleAreaFilterAlgorithm >.

Definition at line 114 of file laser_people_area_filter_alg_node.cpp.

void LaserPeopleAreaFilterAlgNode::people_callback ( const iri_perception_msgs::detectionArray::ConstPtr & msg ) [private]

Definition at line 90 of file laser_people_area_filter_alg_node.cpp.

bool LaserPeopleAreaFilterAlgNode::validateByArea ( geometry_msgs::PoseStamped pose ) [private]

Definition at line 144 of file laser_people_area_filter_alg_node.cpp.