IRI ROS Specific Algorithm Class. More...

#include <people_tracking_mht_alg_node.h>

Inheritance diagram for PeopleTrackingMhtAlgNode:

Public Member Functions
	PeopleTrackingMhtAlgNode (void)
	Constructor.
	~PeopleTrackingMhtAlgNode (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	detections_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
void	fillTracksMsg ()
void	publishMarkers ()
Private Attributes
iri_perception_msgs::detectionArray	detectionArray_msg_
std::vector< Sdetection >	detections
CMutex	detections_mutex_
ros::Subscriber	detections_subscriber_
bool	detectionsReceived
visualization_msgs::MarkerArray	MarkerArray_msg_
std::vector< Strack >	tracks
ros::Publisher	tracks_publisher_
ros::Publisher	tracksMarkers_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file people_tracking_mht_alg_node.h.

Constructor & Destructor Documentation

PeopleTrackingMhtAlgNode::PeopleTrackingMhtAlgNode ( void )

Constructor.

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

Definition at line 3 of file people_tracking_mht_alg_node.cpp.

PeopleTrackingMhtAlgNode::~PeopleTrackingMhtAlgNode ( void )

Destructor.

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

Definition at line 26 of file people_tracking_mht_alg_node.cpp.

Member Function Documentation

void PeopleTrackingMhtAlgNode::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< PeopleTrackingMhtAlgorithm >.

Definition at line 105 of file people_tracking_mht_alg_node.cpp.

void PeopleTrackingMhtAlgNode::detections_callback ( const iri_perception_msgs::detectionArray::ConstPtr & msg ) [private]

Definition at line 59 of file people_tracking_mht_alg_node.cpp.

void PeopleTrackingMhtAlgNode::fillTracksMsg ( ) [private]

Definition at line 115 of file people_tracking_mht_alg_node.cpp.

void PeopleTrackingMhtAlgNode::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< PeopleTrackingMhtAlgorithm >.

Definition at line 31 of file people_tracking_mht_alg_node.cpp.

void PeopleTrackingMhtAlgNode::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< PeopleTrackingMhtAlgorithm >.

Definition at line 98 of file people_tracking_mht_alg_node.cpp.

void PeopleTrackingMhtAlgNode::publishMarkers ( ) [private]

Definition at line 132 of file people_tracking_mht_alg_node.cpp.