Go to the documentation of this file.00001 #include "object_pose_detection_alg_node.h"
00002
00003 ObjectPoseDetectionAlgNode::ObjectPoseDetectionAlgNode(void) :
00004 algorithm_base::IriBaseAlgorithm<ObjectPoseDetectionAlgorithm>(),
00005 obj_pose_det_aserver_(public_node_handle_, "obj_pose_det")
00006 {
00007
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00009
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00018
00019 obj_pose_det_aserver_.registerStartCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detStartCallback, this, _1));
00020 obj_pose_det_aserver_.registerStopCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detStopCallback, this));
00021 obj_pose_det_aserver_.registerIsFinishedCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detIsFinishedCallback, this));
00022 obj_pose_det_aserver_.registerHasSucceedCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detHasSucceedCallback, this));
00023 obj_pose_det_aserver_.registerGetResultCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detGetResultCallback, this, _1));
00024 obj_pose_det_aserver_.registerGetFeedbackCallback(boost::bind(&ObjectPoseDetectionAlgNode::obj_pose_detGetFeedbackCallback, this, _1));
00025 obj_pose_det_aserver_.start();
00026
00027
00028 }
00029
00030 ObjectPoseDetectionAlgNode::~ObjectPoseDetectionAlgNode(void)
00031 {
00032
00033 }
00034
00035 void ObjectPoseDetectionAlgNode::mainNodeThread(void)
00036 {
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00047
00048 }
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00055 void ObjectPoseDetectionAlgNode::obj_pose_detStartCallback(const iri_perception_msgs::object_pose_detectionGoalConstPtr& goal)
00056 {
00057 alg_.lock();
00058
00059
00060
00061
00062
00063
00064
00065 this->queryImage = goal.???;
00066 alg_.unlock();
00067 }
00068
00069 void ObjectPoseDetectionAlgNode::obj_pose_detStopCallback(void)
00070 {
00071 alg_.lock();
00072
00073 alg_.unlock();
00074 }
00075
00076 bool ObjectPoseDetectionAlgNode::obj_pose_detIsFinishedCallback(void)
00077 {
00078 bool ret = false;
00079
00080 alg_.lock();
00081
00082
00083 alg_.unlock();
00084
00085 return ret;
00086 }
00087
00088 bool ObjectPoseDetectionAlgNode::obj_pose_detHasSucceedCallback(void)
00089 {
00090 bool ret = false;
00091
00092 alg_.lock();
00093
00094
00095 alg_.unlock();
00096
00097 return ret;
00098 }
00099
00100 void ObjectPoseDetectionAlgNode::obj_pose_detGetResultCallback(iri_perception_msgs::object_pose_detectionResultPtr& result)
00101 {
00102 alg_.lock();
00103
00104
00105 alg_.unlock();
00106 }
00107
00108 void ObjectPoseDetectionAlgNode::obj_pose_detGetFeedbackCallback(iri_perception_msgs::object_pose_detectionFeedbackPtr& feedback)
00109 {
00110 alg_.lock();
00111
00112
00113 alg_.unlock();
00114 }
00115
00116
00117
00118 void ObjectPoseDetectionAlgNode::node_config_update(Config &config, uint32_t level)
00119 {
00120 this->alg_.lock();
00121
00122 this->alg_.unlock();
00123 }
00124
00125 void ObjectPoseDetectionAlgNode::addNodeDiagnostics(void)
00126 {
00127 }
00128
00129
00130 int main(int argc,char *argv[])
00131 {
00132 return algorithm_base::main<ObjectPoseDetectionAlgNode>(argc, argv, "object_pose_detection_alg_node");
00133 }