IRI ROS Specific Algorithm Class. More...

#include <iri_people_tracking_alg_node.h>

Inheritance diagram for IriPeopleTrackingAlgNode:

Public Member Functions
	IriPeopleTrackingAlgNode (void)
	Constructor.
	~IriPeopleTrackingAlgNode (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
void	fillTopicMsgs (std::list< CpeopleTrackingObservation > &peopleList)
void	people_detection_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
void	people_trackingGetFeedbackCallback (iri_perception_msgs::peopleTrackFeedbackPtr &feedback)
void	people_trackingGetResultCallback (iri_perception_msgs::peopleTrackResultPtr &result)
bool	people_trackingHasSucceedCallback (void)
bool	people_trackingIsFinishedCallback (void)
void	people_trackingStartCallback (const iri_perception_msgs::peopleTrackGoalConstPtr &goal)
void	people_trackingStopCallback (void)
void	platformOdometry_callback (const nav_msgs::Odometry::ConstPtr &msg)
Private Attributes
visualization_msgs::MarkerArray	MarkerArray_msg_
double	markerB
double	markerG
double	markerR
double	markerSize
CodometryObservation	odometry
ros::Publisher	particleSet_publisher_
CMutex	people_detection_mutex_
ros::Subscriber	people_detection_subscriber_
std::string	people_detector_frame_id_
ros::Time	people_detector_stamp_
IriActionServer < iri_perception_msgs::peopleTrackAction >	people_tracking_aserver_
ros::Publisher	peopleSet_publisher_
iri_perception_msgs::peopleTrackingArray	peopleTrackingArray_msg_
CMutex	platformOdometry_mutex_
ros::Subscriber	platformOdometry_subscriber_
CpeopleTracker	tracker

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file iri_people_tracking_alg_node.h.

Constructor & Destructor Documentation

IriPeopleTrackingAlgNode::IriPeopleTrackingAlgNode ( void )

Constructor.

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

Definition at line 3 of file iri_people_tracking_alg_node.cpp.

IriPeopleTrackingAlgNode::~IriPeopleTrackingAlgNode ( void )

Destructor.

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

Definition at line 38 of file iri_people_tracking_alg_node.cpp.

Member Function Documentation

void IriPeopleTrackingAlgNode::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< IriPeopleTrackingAlgorithm >.

Definition at line 310 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::fillTopicMsgs ( std::list< CpeopleTrackingObservation > & peopleList ) [private]

Definition at line 43 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::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< IriPeopleTrackingAlgorithm >.

Definition at line 134 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::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< IriPeopleTrackingAlgorithm >.

Definition at line 296 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::people_detection_callback ( const iri_perception_msgs::detectionArray::ConstPtr & msg ) [private]

Definition at line 174 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::people_trackingGetFeedbackCallback ( iri_perception_msgs::peopleTrackFeedbackPtr & feedback ) [private]

Definition at line 286 of file iri_people_tracking_alg_node.cpp.

void IriPeopleTrackingAlgNode::people_trackingGetResultCallback ( iri_perception_msgs::peopleTrackResultPtr & result ) [private]

Definition at line 268 of file iri_people_tracking_alg_node.cpp.

bool IriPeopleTrackingAlgNode::people_trackingHasSucceedCallback ( void ) [private]

Definition at line 256 of file iri_people_tracking_alg_node.cpp.

bool IriPeopleTrackingAlgNode::people_trackingIsFinishedCallback ( void ) [private]

Definition at line 242 of file iri_people_tracking_alg_node.cpp.