laser_people_map_filter_alg_node.h
Go to the documentation of this file.
00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _laser_people_map_filter_alg_node_h_
00026 #define _laser_people_map_filter_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "laser_people_map_filter_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <visualization_msgs/MarkerArray.h>
00033 #include <nav_msgs/OccupancyGrid.h>
00034 #include <iri_perception_msgs/detectionArray.h>
00035 
00036 // [service client headers]
00037 
00038 // [action server client headers]
00039 
00040 #include <tf/transform_listener.h>
00041 
00046 class LaserPeopleMapFilterAlgNode : public algorithm_base::IriBaseAlgorithm<LaserPeopleMapFilterAlgorithm>
00047 {
00048   private:
00049     // [publisher attributes]
00050     ros::Publisher peopleMarkers_publisher_;
00051     visualization_msgs::MarkerArray MarkerArray_msg_;
00052     ros::Publisher mapFilteredPeople_publisher_;
00053     iri_perception_msgs::detectionArray detectionArray_msg_;
00054 
00055     // [subscriber attributes]
00056     ros::Subscriber map_subscriber_;
00057     void map_callback(const nav_msgs::OccupancyGrid::ConstPtr& msg);
00058     CMutex map_mutex_;
00059     ros::Subscriber people_subscriber_;
00060     void people_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg);
00061     CMutex people_mutex_;
00062 
00063     // [service attributes]
00064 
00065     // [client attributes]
00066 
00067     // [action server attributes]
00068 
00069     // [action client attributes]
00070 
00071     tf::TransformListener tf_listener_;
00072 
00073     nav_msgs::OccupancyGrid map;
00074    iri_perception_msgs::detectionArray peopleIn;
00075    iri_perception_msgs::detectionArray people;
00076     bool mapReceived;
00077     bool peopleReceived;
00078     double neighborRadius;
00079 
00080     double markerWidth;
00081     double markerHeight;
00082     double markerR;
00083     double markerG;
00084     double markerB;
00085     double markerA;
00086 
00087     std::string frame;
00088 
00089     bool checkCellNearObstacle(int index, int neighborDistance);
00090     void getPeopleMarkers(iri_perception_msgs::detectionArray & peopleList, visualization_msgs::MarkerArray & people);
00091 
00092   public:
00099     LaserPeopleMapFilterAlgNode(void);
00100 
00107     ~LaserPeopleMapFilterAlgNode(void);
00108 
00109   protected:
00122     void mainNodeThread(void);
00123 
00136     void node_config_update(Config &config, uint32_t level);
00137 
00144     void addNodeDiagnostics(void);
00145 
00146     // [diagnostic functions]
00147     
00148     // [test functions]
00149 };
00150 
00151 #endif


iri_laser_people_map_filter
Author(s): fherrero
autogenerated on Fri Dec 6 2013 21:52:17