IRI ROS Specific Algorithm Class. More...

#include <laser_people_label_alg_node.h>

Inheritance diagram for LaserPeopleLabelAlgNode:

Public Member Functions
	LaserPeopleLabelAlgNode (void)
	Constructor.
	~LaserPeopleLabelAlgNode (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	doButton ()
bool	doFileExist (string filePath)
void	fillAreas (visualization_msgs::MarkerArray &areas)
void	fillButtons (visualization_msgs::MarkerArray &buttons)
void	getButton (vector< float > goal)
void	goal_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	goToScan ()
void	initialize ()
void	labelAreas ()
void	loadBag (void)
void	nextScan ()
void	setArea ()
Private Attributes
bool	append
std::vector< float >	area
std::vector< std::vector< float > >	areaListNeg
std::vector< std::vector< float > >	areaListPos
ros::Publisher	areas_array_publisher_
int	areaVertex
rosbag::Bag	bag
string	bagFilePath
std::vector < sensor_msgs::LaserScan >	bagScans
ButtonType	button_type
ros::Publisher	buttons_array_publisher_
int	currentBagScan
vector< float >	currentGoal
int	currentIteration
sensor_msgs::LaserScan	currentScan
bool	debug
string	filePath
CMutex	goal_mutex_
ros::Subscriber	goal_subscriber_
vector< float >	intensities
rosbag::View::iterator	iter
string	labelsFilePath
sensor_msgs::LaserScan	LaserScan_msg_
visualization_msgs::MarkerArray	MarkerArrayAreas_msg_
visualization_msgs::MarkerArray	MarkerArrayButtons_msg_
ModeType	mode
int	modeArea
ros::Publisher	scanLabel_publisher_
string	scanTopic
bool	skipScan
rosbag::View	view

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file laser_people_label_alg_node.h.

Constructor & Destructor Documentation

LaserPeopleLabelAlgNode::LaserPeopleLabelAlgNode ( 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_label_alg_node.cpp.

LaserPeopleLabelAlgNode::~LaserPeopleLabelAlgNode ( void )

Destructor.

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

Definition at line 35 of file laser_people_label_alg_node.cpp.

Member Function Documentation

void LaserPeopleLabelAlgNode::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< LaserPeopleLabelAlgorithm >.

Definition at line 596 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::doButton ( ) [private]

Definition at line 279 of file laser_people_label_alg_node.cpp.

bool LaserPeopleLabelAlgNode::doFileExist ( string filePath ) [private]

Definition at line 211 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::fillAreas ( visualization_msgs::MarkerArray & areas ) [private]

Definition at line 527 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::fillButtons ( visualization_msgs::MarkerArray & buttons ) [private]

Definition at line 470 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::getButton ( vector< float > goal ) [private]

Definition at line 220 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::goal_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 86 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::goToScan ( ) [private]

Definition at line 402 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::initialize ( ) [private]

Definition at line 111 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::labelAreas ( ) [private]

Definition at line 446 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::loadBag ( void ) [private]

Definition at line 183 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::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< LaserPeopleLabelAlgorithm >.

Definition at line 40 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::nextScan ( ) [private]

Definition at line 350 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::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< LaserPeopleLabelAlgorithm >.

Definition at line 589 of file laser_people_label_alg_node.cpp.

void LaserPeopleLabelAlgNode::setArea ( ) [private]

Definition at line 424 of file laser_people_label_alg_node.cpp.