IRI ROS Specific Algorithm Class. More...

#include <trajectory_2_markers_alg_node.h>

Inheritance diagram for Trajectory2MarkersAlgNode:

Public Member Functions
	Trajectory2MarkersAlgNode (void)
	Constructor.
	~Trajectory2MarkersAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	change_actual_marker (const Eigen::Matrix2d &covs, const double &theta_cov, const geometry_msgs::Point &position, const bool &loopClosure)
	change actual marker
visualization_msgs::Marker	create_marker (const uint &id, const std_msgs::Header &header, const Eigen::Matrix2d &covs, const double &theta_cov, const geometry_msgs::Point &position, const bool &loopClosure) const
	create marker
void	drawTrajectory (const iri_poseslam::Trajectory &msg)
	fill marker array message
visualization_msgs::Marker	get_actual_marker () const
	get actual marker
visualization_msgs::MarkerArray	get_covariance_markers () const
	get covariance markers
Eigen::Matrix2d	get_ith_cov (const iri_poseslam::Trajectory &msg, const uint i) const
	get ith cov
double	get_ith_theta_cov (const iri_poseslam::Trajectory &msg, const uint i) const
	get ith theta cov
visualization_msgs::MarkerArray	get_trajectory_marker () const
	get trajectory marker
void	initialize_markers ()
	initialize line markers
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	trajectory_callback (const iri_poseslam::Trajectory::ConstPtr &msg)
Private Attributes
visualization_msgs::Marker	actual_marker_
ros::Publisher	ActualPoseMarker_publisher_
Config	config_
visualization_msgs::MarkerArray	covariance_markers_
ros::Publisher	CovarianceMarkers_publisher_
std::vector< bool >	loop_step_
visualization_msgs::Marker	loops_marker_
uint	nLoops_
visualization_msgs::Marker	trajectory_marker_
ros::Subscriber	trajectory_subscriber_
ros::Publisher	TrajectoryMarkers_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file trajectory_2_markers_alg_node.h.

Constructor & Destructor Documentation

Trajectory2MarkersAlgNode::Trajectory2MarkersAlgNode ( void )

Constructor.

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

Definition at line 3 of file trajectory_2_markers_alg_node.cpp.

Trajectory2MarkersAlgNode::~Trajectory2MarkersAlgNode ( void )

Destructor.

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

Definition at line 28 of file trajectory_2_markers_alg_node.cpp.

Member Function Documentation

void Trajectory2MarkersAlgNode::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< Trajectory2MarkersAlgorithm >.

Definition at line 73 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::change_actual_marker	(	const Eigen::Matrix2d &	covs,
		const double &	theta_cov,
		const geometry_msgs::Point &	position,
		const bool &	loopClosure
	)		`[protected]`

change actual marker

Definition at line 303 of file trajectory_2_markers_alg_node.cpp.

visualization_msgs::Marker Trajectory2MarkersAlgNode::create_marker	(	const uint &	id,
		const std_msgs::Header &	header,
		const Eigen::Matrix2d &	covs,
		const double &	theta_cov,
		const geometry_msgs::Point &	position,
		const bool &	loopClosure
	)		const `[protected]`

create marker

Definition at line 249 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::drawTrajectory ( const iri_poseslam::Trajectory & msg ) [protected]

fill marker array message

Definition at line 135 of file trajectory_2_markers_alg_node.cpp.

visualization_msgs::Marker Trajectory2MarkersAlgNode::get_actual_marker ( ) const [protected]

get actual marker

Definition at line 239 of file trajectory_2_markers_alg_node.cpp.

visualization_msgs::MarkerArray Trajectory2MarkersAlgNode::get_covariance_markers ( ) const [protected]

get covariance markers

Definition at line 244 of file trajectory_2_markers_alg_node.cpp.

Eigen::Matrix2d Trajectory2MarkersAlgNode::get_ith_cov	(	const iri_poseslam::Trajectory &	msg,
		const uint	i
	)		const `[protected]`

get ith cov

Definition at line 347 of file trajectory_2_markers_alg_node.cpp.

double Trajectory2MarkersAlgNode::get_ith_theta_cov	(	const iri_poseslam::Trajectory &	msg,
		const uint	i
	)		const `[protected]`

get ith theta cov

Definition at line 359 of file trajectory_2_markers_alg_node.cpp.

visualization_msgs::MarkerArray Trajectory2MarkersAlgNode::get_trajectory_marker ( ) const [protected]

get trajectory marker

Definition at line 230 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::initialize_markers ( ) [protected]

initialize line markers

Definition at line 83 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::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< Trajectory2MarkersAlgorithm >.

Definition at line 33 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::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< Trajectory2MarkersAlgorithm >.

Definition at line 62 of file trajectory_2_markers_alg_node.cpp.

void Trajectory2MarkersAlgNode::trajectory_callback ( const iri_poseslam::Trajectory::ConstPtr & msg ) [private]

Definition at line 42 of file trajectory_2_markers_alg_node.cpp.