Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
PeopleTrackingRaiAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <people_tracking_rai_alg_node.h>

Inheritance diagram for PeopleTrackingRaiAlgNode:
Inheritance graph
[legend]

List of all members.

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

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.

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.

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.

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:
configan object with new configuration from all algorithm parameters defined in the config file.
levelinteger 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.


Member Data Documentation

Definition at line 119 of file people_tracking_rai_alg_node.h.

Definition at line 117 of file people_tracking_rai_alg_node.h.

Definition at line 131 of file people_tracking_rai_alg_node.h.

Definition at line 96 of file people_tracking_rai_alg_node.h.

unsigned int PeopleTrackingRaiAlgNode::exeMode [private]

Definition at line 83 of file people_tracking_rai_alg_node.h.

Definition at line 116 of file people_tracking_rai_alg_node.h.

Definition at line 114 of file people_tracking_rai_alg_node.h.

pFilterParameters PeopleTrackingRaiAlgNode::filterParams [private]

Definition at line 142 of file people_tracking_rai_alg_node.h.

Definition at line 110 of file people_tracking_rai_alg_node.h.

Definition at line 108 of file people_tracking_rai_alg_node.h.

unsigned int PeopleTrackingRaiAlgNode::frameCount [private]

Definition at line 152 of file people_tracking_rai_alg_node.h.

unsigned int PeopleTrackingRaiAlgNode::hogDetCount [private]

Definition at line 152 of file people_tracking_rai_alg_node.h.

std::ofstream PeopleTrackingRaiAlgNode::hogFile [private]

Definition at line 148 of file people_tracking_rai_alg_node.h.

Definition at line 128 of file people_tracking_rai_alg_node.h.

Definition at line 105 of file people_tracking_rai_alg_node.h.

Definition at line 126 of file people_tracking_rai_alg_node.h.

Definition at line 95 of file people_tracking_rai_alg_node.h.

Definition at line 125 of file people_tracking_rai_alg_node.h.

Definition at line 123 of file people_tracking_rai_alg_node.h.

visualization_msgs::MarkerArray PeopleTrackingRaiAlgNode::MarkerArray_msg_ [private]

Definition at line 102 of file people_tracking_rai_alg_node.h.

Definition at line 122 of file people_tracking_rai_alg_node.h.

Definition at line 120 of file people_tracking_rai_alg_node.h.

Definition at line 101 of file people_tracking_rai_alg_node.h.

Definition at line 103 of file people_tracking_rai_alg_node.h.

Definition at line 104 of file people_tracking_rai_alg_node.h.

CodometryObservation PeopleTrackingRaiAlgNode::platformOdometry [private]

Definition at line 145 of file people_tracking_rai_alg_node.h.

Definition at line 151 of file people_tracking_rai_alg_node.h.

tld_msgs::Target PeopleTrackingRaiAlgNode::tldBB_msg_ [private]

Definition at line 100 of file people_tracking_rai_alg_node.h.

Definition at line 99 of file people_tracking_rai_alg_node.h.

Definition at line 113 of file people_tracking_rai_alg_node.h.

Definition at line 111 of file people_tracking_rai_alg_node.h.

Definition at line 89 of file people_tracking_rai_alg_node.h.

CpeopleTracker PeopleTrackingRaiAlgNode::tracker [private]

Definition at line 144 of file people_tracking_rai_alg_node.h.

trackerParameters PeopleTrackingRaiAlgNode::trackerParams [private]

Definition at line 143 of file people_tracking_rai_alg_node.h.

Definition at line 149 of file people_tracking_rai_alg_node.h.

Definition at line 150 of file people_tracking_rai_alg_node.h.


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


iri_people_tracking_rai
Author(s): Andreu Corominas Murtra, andreu@beta-robots.com
autogenerated on Fri Dec 6 2013 23:46:51