IRI ROS Specific Algorithm Class. More...

#include <trajectory_broadcaster_alg_node.h>

Inheritance diagram for TrajectoryBroadcasterAlgNode:

Public Member Functions
	TrajectoryBroadcasterAlgNode (void)
	Constructor.
	~TrajectoryBroadcasterAlgNode (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	trajectory_callback (const iri_poseslam::Trajectory::ConstPtr &msg)
Private Attributes
std::string	base_frame_id_
std::string	map_frame_id_
std::string	odom_frame_id_
CMutex	recompute_tf_mutex_
tf::Transform	T_base_odom_
tf::Transform	T_map_base_
tf::Transform	T_map_odom_
tf::TransformBroadcaster	tfb_
tf::TransformListener	tfl_
ros::Subscriber	trajectory_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file trajectory_broadcaster_alg_node.h.

Constructor & Destructor Documentation

TrajectoryBroadcasterAlgNode::TrajectoryBroadcasterAlgNode ( void )

Constructor.

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

Definition at line 3 of file trajectory_broadcaster_alg_node.cpp.

TrajectoryBroadcasterAlgNode::~TrajectoryBroadcasterAlgNode ( void )

Destructor.

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

Definition at line 24 of file trajectory_broadcaster_alg_node.cpp.

Member Function Documentation

void TrajectoryBroadcasterAlgNode::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< TrajectoryBroadcasterAlgorithm >.

Definition at line 97 of file trajectory_broadcaster_alg_node.cpp.

void TrajectoryBroadcasterAlgNode::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< TrajectoryBroadcasterAlgorithm >.

Definition at line 29 of file trajectory_broadcaster_alg_node.cpp.

void TrajectoryBroadcasterAlgNode::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< TrajectoryBroadcasterAlgorithm >.

Definition at line 84 of file trajectory_broadcaster_alg_node.cpp.

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

Definition at line 46 of file trajectory_broadcaster_alg_node.cpp.