IRI ROS Specific Algorithm Class. More...

#include <leaf_probing_point_alg_node.h>

Inheritance diagram for LeafProbingPointAlgNode:

Public Member Functions
	LeafProbingPointAlgNode (void)
	Constructor.
	~LeafProbingPointAlgNode (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	input_pcl_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
bool	leaf_probing_srv_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Private Attributes
sensor_msgs::Image	Image_msg_
CMutex	input_pcl_mutex_
ros::Subscriber	input_pcl_subscriber_
ros::ServiceClient	leaf_fitting_client_
ros::ServiceServer	leaf_probing_srv_
ros::ServiceClient	leaf_segmentation_client_
sensor_msgs::PointCloud2::ConstPtr	pcl_xyzrgb_
ros::Publisher	segmented_image_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file leaf_probing_point_alg_node.h.

Constructor & Destructor Documentation

LeafProbingPointAlgNode::LeafProbingPointAlgNode ( void )

Constructor.

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

Definition at line 3 of file leaf_probing_point_alg_node.cpp.

LeafProbingPointAlgNode::~LeafProbingPointAlgNode ( void )

Destructor.

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

Definition at line 27 of file leaf_probing_point_alg_node.cpp.

Member Function Documentation

void LeafProbingPointAlgNode::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< LeafProbingPointAlgorithm >.

Definition at line 111 of file leaf_probing_point_alg_node.cpp.

void LeafProbingPointAlgNode::input_pcl_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 46 of file leaf_probing_point_alg_node.cpp.

bool LeafProbingPointAlgNode::leaf_probing_srv_callback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Definition at line 65 of file leaf_probing_point_alg_node.cpp.

void LeafProbingPointAlgNode::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< LeafProbingPointAlgorithm >.

Definition at line 32 of file leaf_probing_point_alg_node.cpp.

void LeafProbingPointAlgNode::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< LeafProbingPointAlgorithm >.

Definition at line 104 of file leaf_probing_point_alg_node.cpp.