PeopleFollowerAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <people_follower_alg.h>

List of all members.

Public Types
typedef iri_people_follower::PeopleFollowerConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
	PeopleFollowerAlgorithm (void)
	constructor
geometry_msgs::Point	substractSafetyDistance (const geometry_msgs::Point &goal_pose, const float &min_safety_dist)
bool	transformGoal (geometry_msgs::PoseStamped &pose, const std::string &target_frame, const std::string &fixed_frame) const
bool	try_enter (void)
	Tries Access to Algorithm.
bool	udpateGoal (geometry_msgs::PoseStamped &last_pose, const geometry_msgs::PoseStamped &current_pose, const float &threshold_dist) const
void	unlock (void)
	Unlock Algorithm.
	~PeopleFollowerAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
tf::TransformListener	tf_listener_

---

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 42 of file people_follower_alg.h.

---

Member Typedef Documentation

typedef iri_people_follower::PeopleFollowerConfig PeopleFollowerAlgorithm::Config

define config type

Define a Config type with the PeopleFollowerConfig. All driver implementations will then use the same variable type Config.

Definition at line 63 of file people_follower_alg.h.

---

Constructor & Destructor Documentation

PeopleFollowerAlgorithm::PeopleFollowerAlgorithm

(

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.

Definition at line 3 of file people_follower_alg.cpp.

PeopleFollowerAlgorithm::~PeopleFollowerAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 8 of file people_follower_alg.cpp.

---

Member Function Documentation

void PeopleFollowerAlgorithm::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.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 12 of file people_follower_alg.cpp.

void PeopleFollowerAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 88 of file people_follower_alg.h.

geometry_msgs::Point PeopleFollowerAlgorithm::substractSafetyDistance	(	const geometry_msgs::Point &	goal_pose,
		const float &	min_safety_dist
	)

Definition at line 93 of file people_follower_alg.cpp.

bool PeopleFollowerAlgorithm::transformGoal	(	geometry_msgs::PoseStamped &	pose,
		const std::string &	target_frame,
		const std::string &	fixed_frame
	)		const

Definition at line 22 of file people_follower_alg.cpp.

bool PeopleFollowerAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 104 of file people_follower_alg.h.

bool PeopleFollowerAlgorithm::udpateGoal	(	geometry_msgs::PoseStamped &	last_pose,
		const geometry_msgs::PoseStamped &	current_pose,
		const float &	threshold_dist
	)		const

Definition at line 65 of file people_follower_alg.cpp.

void PeopleFollowerAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 95 of file people_follower_alg.h.

---

Member Data Documentation

CMutex PeopleFollowerAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the PeopleFollowerConfig. All driver implementations will then use the same variable type Config.

Definition at line 51 of file people_follower_alg.h.

Config PeopleFollowerAlgorithm::config_

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 71 of file people_follower_alg.h.

tf::TransformListener PeopleFollowerAlgorithm::tf_listener_ [protected]

Definition at line 54 of file people_follower_alg.h.

---

The documentation for this class was generated from the following files:

• people_follower_alg.h
• people_follower_alg.cpp