IRI ROS Specific Algorithm Class. More...

#include <people_tracking_rai_alg_node.h>

Inheritance diagram for PeopleTrackingRaiAlgNode:

Public Member Functions
void	fillMessages ()
	Fill output messages.
	PeopleTrackingRaiAlgNode (void)
	Constructor.
	~PeopleTrackingRaiAlgNode (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	bodyDetections_callback (const pal_vision_msgs::HogDetections::ConstPtr &msg)
void	faceDetections_callback (const pal_vision_msgs::FaceDetections::ConstPtr &msg)
void	followMe_callback (const std_msgs::Int32::ConstPtr &msg)
void	image_callback (const sensor_msgs::ImageConstPtr &msg)
void	initCamera ()
void	legDetections_callback (const pal_vision_msgs::LegDetections::ConstPtr &msg)
void	odometry_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	tldDetections_callback (const tld_msgs::BoundingBox::ConstPtr &msg)
Private Attributes
CMutex	bodyDetections_mutex_
ros::Subscriber	bodyDetections_subscriber_
CMutex	config_mutex
cv_bridge::CvImagePtr	cv_ptr
unsigned int	exeMode
CMutex	faceDetections_mutex_
ros::Subscriber	faceDetections_subscriber_
pFilterParameters	filterParams
CMutex	followMe_mutex_
ros::Subscriber	followMe_subscriber_
unsigned int	frameCount
unsigned int	hogDetCount
std::ofstream	hogFile
CMutex	image_mutex_
image_transport::Publisher	image_pub_
image_transport::Subscriber	image_sub_
image_transport::ImageTransport	it_
CMutex	legDetections_mutex_
ros::Subscriber	legDetections_subscriber_
visualization_msgs::MarkerArray	MarkerArray_msg_
CMutex	odometry_mutex_
ros::Subscriber	odometry_subscriber_
ros::Publisher	particleSet_publisher_
ros::Publisher	peopleSet_publisher_
iri_perception_msgs::peopleTrackingArray	peopleTrackingArray_msg_
CodometryObservation	platformOdometry
double	ratioParticlesDisplayed
tld_msgs::Target	tldBB_msg_
ros::Publisher	tldBB_publisher_
CMutex	tldDetections_mutex_
ros::Subscriber	tldDetections_subscriber_
bool	tldMessageFilled
CpeopleTracker	tracker
trackerParameters	trackerParams
bool	verboseMode
bool	viewBodyDetections

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 79 of file people_tracking_rai_alg_node.h.

Constructor & Destructor Documentation

PeopleTrackingRaiAlgNode::PeopleTrackingRaiAlgNode ( 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_rai_alg_node.cpp.

PeopleTrackingRaiAlgNode::~PeopleTrackingRaiAlgNode ( void )

Destructor.

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

Definition at line 92 of file people_tracking_rai_alg_node.cpp.

Member Function Documentation

void PeopleTrackingRaiAlgNode::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< PeopleTrackingRaiAlgorithm >.

Definition at line 773 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::bodyDetections_callback ( const pal_vision_msgs::HogDetections::ConstPtr & msg ) [private]

Definition at line 630 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::faceDetections_callback ( const pal_vision_msgs::FaceDetections::ConstPtr & msg ) [private]

Definition at line 596 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::fillMessages ( )

Fill output messages.

Fills main output and debug messages

Definition at line 116 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::followMe_callback ( const std_msgs::Int32::ConstPtr & msg ) [private]

Definition at line 548 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::image_callback ( const sensor_msgs::ImageConstPtr & msg ) [private]

Definition at line 742 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::initCamera ( ) [private]

Definition at line 100 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::legDetections_callback ( const pal_vision_msgs::LegDetections::ConstPtr & msg ) [private]

Definition at line 718 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::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< PeopleTrackingRaiAlgorithm >.

Definition at line 420 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::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< PeopleTrackingRaiAlgorithm >.

Definition at line 766 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::odometry_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 691 of file people_tracking_rai_alg_node.cpp.

void PeopleTrackingRaiAlgNode::tldDetections_callback ( const tld_msgs::BoundingBox::ConstPtr & msg ) [private]

Definition at line 556 of file people_tracking_rai_alg_node.cpp.