IRI ROS Specific Algorithm Class. More...

#include <laser_people_map_filter_alg_node.h>

Inheritance diagram for LaserPeopleMapFilterAlgNode:

Public Member Functions
	LaserPeopleMapFilterAlgNode (void)
	Constructor.
	~LaserPeopleMapFilterAlgNode (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	checkCellNearObstacle (int index, int neighborDistance)
void	getPeopleMarkers (iri_perception_msgs::detectionArray &peopleList, visualization_msgs::MarkerArray &people)
void	map_callback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
void	people_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
Private Attributes
iri_perception_msgs::detectionArray	detectionArray_msg_
std::string	frame
nav_msgs::OccupancyGrid	map
CMutex	map_mutex_
ros::Subscriber	map_subscriber_
ros::Publisher	mapFilteredPeople_publisher_
bool	mapReceived
double	markerA
visualization_msgs::MarkerArray	MarkerArray_msg_
double	markerB
double	markerG
double	markerHeight
double	markerR
double	markerWidth
double	neighborRadius
iri_perception_msgs::detectionArray	people
CMutex	people_mutex_
ros::Subscriber	people_subscriber_
iri_perception_msgs::detectionArray	peopleIn
ros::Publisher	peopleMarkers_publisher_
bool	peopleReceived
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file laser_people_map_filter_alg_node.h.

Constructor & Destructor Documentation

LaserPeopleMapFilterAlgNode::LaserPeopleMapFilterAlgNode ( 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_map_filter_alg_node.cpp.

LaserPeopleMapFilterAlgNode::~LaserPeopleMapFilterAlgNode ( void )

Destructor.

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

Definition at line 42 of file laser_people_map_filter_alg_node.cpp.

Member Function Documentation

void LaserPeopleMapFilterAlgNode::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< LaserPeopleMapFilterAlgorithm >.

Definition at line 210 of file laser_people_map_filter_alg_node.cpp.

bool LaserPeopleMapFilterAlgNode::checkCellNearObstacle	(	int	index,
		int	neighborDistance
	)		`[private]`

Definition at line 220 of file laser_people_map_filter_alg_node.cpp.

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

Definition at line 252 of file laser_people_map_filter_alg_node.cpp.

void LaserPeopleMapFilterAlgNode::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< LaserPeopleMapFilterAlgorithm >.

Definition at line 47 of file laser_people_map_filter_alg_node.cpp.

void LaserPeopleMapFilterAlgNode::map_callback ( const nav_msgs::OccupancyGrid::ConstPtr & msg ) [private]

Definition at line 104 of file laser_people_map_filter_alg_node.cpp.

void LaserPeopleMapFilterAlgNode::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< LaserPeopleMapFilterAlgorithm >.

Definition at line 197 of file laser_people_map_filter_alg_node.cpp.

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

Definition at line 127 of file laser_people_map_filter_alg_node.cpp.