IRI ROS Specific Algorithm Class. More...

#include <leaf_fitting_alg_node.h>

Inheritance diagram for LeafFittingAlgNode:

Public Member Functions
	LeafFittingAlgNode (void)
	Constructor.
	~LeafFittingAlgNode (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	get_confidence_leaf_fitting_srv_callback (iri_leaf_fitting::GetConfidenceLeafFitting::Request &req, iri_leaf_fitting::GetConfidenceLeafFitting::Response &res)
Private Attributes
int **	cluster_labels_
cv_bridge::CvImagePtr	cv_ptr_
std_msgs::Float32MultiArray	fit_score_list_msg_
ros::ServiceServer	get_confidence_leaf_fitting_srv_
sensor_msgs::Image	Image_msg_
int	num_ccs_fin_
ros::Publisher	output_image_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 56 of file leaf_fitting_alg_node.h.

Constructor & Destructor Documentation

LeafFittingAlgNode::LeafFittingAlgNode ( void )

Constructor.

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

Definition at line 3 of file leaf_fitting_alg_node.cpp.

LeafFittingAlgNode::~LeafFittingAlgNode ( void )

Destructor.

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

Definition at line 24 of file leaf_fitting_alg_node.cpp.

Member Function Documentation

void LeafFittingAlgNode::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< LeafFittingAlgorithm >.

Definition at line 122 of file leaf_fitting_alg_node.cpp.

bool LeafFittingAlgNode::get_confidence_leaf_fitting_srv_callback	(	iri_leaf_fitting::GetConfidenceLeafFitting::Request &	req,
		iri_leaf_fitting::GetConfidenceLeafFitting::Response &	res
	)		`[private]`

Definition at line 47 of file leaf_fitting_alg_node.cpp.

void LeafFittingAlgNode::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< LeafFittingAlgorithm >.

Definition at line 29 of file leaf_fitting_alg_node.cpp.

void LeafFittingAlgNode::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< LeafFittingAlgorithm >.

Definition at line 115 of file leaf_fitting_alg_node.cpp.