IRI ROS Specific Algorithm Class. More...

#include <moped_handler_alg_node.h>

Inheritance diagram for MopedHandlerAlgNode:

Public Member Functions
	MopedHandlerAlgNode (void)
	Constructor.
	~MopedHandlerAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	callback (const ImageConstPtr &image, const PointCloud2ConstPtr &pcl)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Protected Attributes
sensor_msgs::Image	inputImage
sensor_msgs::PointCloud2	inputPointCloud
pcl::PointCloud< pcl::PointXYZ >	pcl_
bool	working
Private Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::PointCloud2 >	MySyncPolicy
Private Member Functions
bool	enableCallback (iri_moped_handler::enable::Request &req, iri_moped_handler::enable::Response &res)
void	mopedActive ()
void	mopedDone (const actionlib::SimpleClientGoalState &state, const iri_moped_actionserver::mopedResultConstPtr &result)
void	mopedFeedback (const iri_moped_actionserver::mopedFeedbackConstPtr &feedback)
void	mopedMakeActionRequest ()
Private Attributes
CMutex	enable_mutex_
ros::ServiceServer	enable_server_
actionlib::SimpleActionClient < iri_moped_actionserver::mopedAction >	moped_client_
iri_moped_actionserver::mopedGoal	moped_goal_
pr_msgs::ObjectPoseList	ObjectPoseList_msg_
ros::Publisher	outputOPL_publisher_
message_filters::Subscriber < sensor_msgs::Image >	subImage_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	subPointCloud_
message_filters::Synchronizer < MySyncPolicy > *	sync_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 62 of file moped_handler_alg_node.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> MopedHandlerAlgNode::MySyncPolicy [private]

Definition at line 74 of file moped_handler_alg_node.h.

Constructor & Destructor Documentation

MopedHandlerAlgNode::MopedHandlerAlgNode ( void )

Constructor.

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

Definition at line 3 of file moped_handler_alg_node.cpp.

MopedHandlerAlgNode::~MopedHandlerAlgNode ( void )

Destructor.

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

Definition at line 31 of file moped_handler_alg_node.cpp.

Member Function Documentation

void MopedHandlerAlgNode::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< MopedHandlerAlgorithm >.

Definition at line 223 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::callback	(	const ImageConstPtr &	image,
		const PointCloud2ConstPtr &	pcl
	)		`[protected]`

Definition at line 206 of file moped_handler_alg_node.cpp.

bool MopedHandlerAlgNode::enableCallback	(	iri_moped_handler::enable::Request &	req,
		iri_moped_handler::enable::Response &	res
	)		`[private]`

Definition at line 53 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::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< MopedHandlerAlgorithm >.

Definition at line 36 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::mopedActive ( ) [private]

Definition at line 158 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::mopedDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_moped_actionserver::mopedResultConstPtr &	result
	)		`[private]`

Definition at line 95 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::mopedFeedback ( const iri_moped_actionserver::mopedFeedbackConstPtr & feedback ) [private]

Definition at line 163 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::mopedMakeActionRequest ( ) [private]

Definition at line 181 of file moped_handler_alg_node.cpp.

void MopedHandlerAlgNode::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< MopedHandlerAlgorithm >.

Definition at line 199 of file moped_handler_alg_node.cpp.