IRI ROS Specific Algorithm Class. More...

#include <leaf_segmentation_alg_node.h>

Inheritance diagram for LeafSegmentationAlgNode:

Public Member Functions
	LeafSegmentationAlgNode (void)
	Constructor.
	~LeafSegmentationAlgNode (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_clustered_image_srv_callback (iri_leaf_segmentation::GetClusteredImage::Request &req, iri_leaf_segmentation::GetClusteredImage::Response &res)
Private Attributes
iri_leaf_segmentation::ClusterSet	cluster_set_msg_
ros::Publisher	cluster_set_publisher_
cv_bridge::CvImagePtr	cv_ptr_
ros::ServiceServer	get_clustered_image_srv_
sensor_msgs::Image	Image_msg_
ros::Publisher	output_image_publisher_
pcl::PointCloud< pcl::PointXYZRGB >	pcl_xyzrgb_
sensor_msgs::Image::ConstPtr	rgb_image_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 63 of file leaf_segmentation_alg_node.h.

Constructor & Destructor Documentation

LeafSegmentationAlgNode::LeafSegmentationAlgNode ( void )

Constructor.

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

Definition at line 5 of file leaf_segmentation_alg_node.cpp.

LeafSegmentationAlgNode::~LeafSegmentationAlgNode ( void )

Destructor.

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

Definition at line 26 of file leaf_segmentation_alg_node.cpp.

Member Function Documentation

void LeafSegmentationAlgNode::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< LeafSegmentationAlgorithm >.

Definition at line 135 of file leaf_segmentation_alg_node.cpp.

bool LeafSegmentationAlgNode::get_clustered_image_srv_callback	(	iri_leaf_segmentation::GetClusteredImage::Request &	req,
		iri_leaf_segmentation::GetClusteredImage::Response &	res
	)		`[private]`

Definition at line 49 of file leaf_segmentation_alg_node.cpp.

void LeafSegmentationAlgNode::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< LeafSegmentationAlgorithm >.

Definition at line 31 of file leaf_segmentation_alg_node.cpp.

void LeafSegmentationAlgNode::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< LeafSegmentationAlgorithm >.

Definition at line 128 of file leaf_segmentation_alg_node.cpp.