IRI ROS Specific Algorithm Class. More...

#include <laser_people_detection_fusion_alg_node.h>

Inheritance diagram for LaserPeopleDetectionFusionAlgNode:

Public Member Functions
	LaserPeopleDetectionFusionAlgNode (void)
	Constructor.
	~LaserPeopleDetectionFusionAlgNode (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	people1_callback (const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr &msg)
void	people2_callback (const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr &msg)
Private Attributes
std::string	fixed_frame_
iri_nav_msgs::PoseWithCovarianceStampedArray	people1_
CMutex	people1_mutex_
ros::Subscriber	people1_subscriber_
bool	people1ready
iri_nav_msgs::PoseWithCovarianceStampedArray	people2_
CMutex	people2_mutex_
ros::Subscriber	people2_subscriber_
bool	people2ready
ros::Publisher	people_publisher_
iri_nav_msgs::PoseWithCovarianceStampedArray	PoseWithCovarianceStampedArray_msg_
std::string	target_frame_
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file laser_people_detection_fusion_alg_node.h.

Constructor & Destructor Documentation

LaserPeopleDetectionFusionAlgNode::LaserPeopleDetectionFusionAlgNode ( void )

Constructor.

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

Definition at line 4 of file laser_people_detection_fusion_alg_node.cpp.

LaserPeopleDetectionFusionAlgNode::~LaserPeopleDetectionFusionAlgNode ( void )

Destructor.

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

Definition at line 38 of file laser_people_detection_fusion_alg_node.cpp.

Member Function Documentation

void LaserPeopleDetectionFusionAlgNode::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< LaserPeopleDetectionFusionAlgorithm >.

Definition at line 179 of file laser_people_detection_fusion_alg_node.cpp.

void LaserPeopleDetectionFusionAlgNode::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< LaserPeopleDetectionFusionAlgorithm >.

Definition at line 43 of file laser_people_detection_fusion_alg_node.cpp.

void LaserPeopleDetectionFusionAlgNode::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< LaserPeopleDetectionFusionAlgorithm >.

Definition at line 172 of file laser_people_detection_fusion_alg_node.cpp.

void LaserPeopleDetectionFusionAlgNode::people1_callback ( const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr & msg ) [private]

Definition at line 128 of file laser_people_detection_fusion_alg_node.cpp.

void LaserPeopleDetectionFusionAlgNode::people2_callback ( const iri_nav_msgs::PoseWithCovarianceStampedArray::ConstPtr & msg ) [private]

Definition at line 147 of file laser_people_detection_fusion_alg_node.cpp.