IRI ROS Specific Driver Class. More...
#include <love_alg.h>
Public Types | |
typedef iri_love::LoveConfig | Config |
define config type | |
Public Member Functions | |
void | config_update (Config &new_cfg, uint32_t level=0) |
config update | |
void | lock (void) |
Lock Algorithm. | |
LoveAlgorithm (void) | |
constructor | |
bool | try_enter (void) |
Tries Access to Algorithm. | |
void | unlock (void) |
Unlock Algorithm. | |
~LoveAlgorithm (void) | |
Destructor. | |
Public Attributes | |
Config | config_ |
config variable | |
Protected Attributes | |
CMutex | alg_mutex_ |
define config type |
IRI ROS Specific Driver Class.
Definition at line 38 of file love_alg.h.
typedef iri_love::LoveConfig LoveAlgorithm::Config |
define config type
Define a Config type with the LoveConfig. All driver implementations will then use the same variable type Config.
Definition at line 58 of file love_alg.h.
LoveAlgorithm::LoveAlgorithm | ( | void | ) |
constructor
In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.
LoveAlgorithm::~LoveAlgorithm | ( | void | ) |
Destructor.
This destructor is called when the object is about to be destroyed.
void LoveAlgorithm::config_update | ( | Config & | new_cfg, |
uint32_t | level = 0 |
||
) |
config update
In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.
new_cfg | the new driver configuration state |
level | level in which the update is taken place |
void LoveAlgorithm::lock | ( | void | ) | [inline] |
bool LoveAlgorithm::try_enter | ( | void | ) | [inline] |
Tries Access to Algorithm.
Tries access to Algorithm
Definition at line 99 of file love_alg.h.
void LoveAlgorithm::unlock | ( | void | ) | [inline] |
CMutex LoveAlgorithm::alg_mutex_ [protected] |
define config type
Define a Config type with the LoveConfig. All driver implementations will then use the same variable type Config.
Definition at line 47 of file love_alg.h.
config variable
This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.
Definition at line 66 of file love_alg.h.