IRI ROS Specific Algorithm Class. More...

#include <trajectory_scans_2_pointcloud_alg_node.h>

Inheritance diagram for TrajectoryScans2PointcloudAlgNode:

Public Member Functions
	TrajectoryScans2PointcloudAlgNode (void)
	Constructor.
	~TrajectoryScans2PointcloudAlgNode (void)
	Destructor.
Protected Member Functions
void	add_to_PointCloud_msg (const sensor_msgs::PointCloud2 &newPointCloud)
	laser scan to point cloud
void	addNodeDiagnostics (void)
	node add diagnostics
void	clear_PointCloud_msg ()
	laser scan to point cloud
sensor_msgs::PointCloud2	laser_scan_to_point_cloud (const sensor_msgs::LaserScan &LScan, const geometry_msgs::Pose &pose)
	laser scan to point cloud
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
bool	recompute_PointCloud_msg (const iri_poseslam::Trajectory &trajectory)
	recompute PointCloud msg
Matrix4f	transformation_matrix (const float x, const float y, const float z, const float alpha) const
	transformation matrix
Private Member Functions
void	scan_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	trajectory_callback (const iri_poseslam::Trajectory::ConstPtr &msg)
Private Attributes
bool	emptyPointCloud_
ros::Publisher	laser_pointcloud_publisher_
laser_geometry::LaserProjection	laser_projector_
std::vector < sensor_msgs::LaserScan >	laser_scan_buffer_
sensor_msgs::PointCloud2	PointCloud_msg_
bool	publish_redundant_
ros::Subscriber	scan_subscriber_
Matrix4f	T_laser_frame
std::vector < sensor_msgs::LaserScan >	trajectory_laser_scan_buffer_
ros::Subscriber	trajectory_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 56 of file trajectory_scans_2_pointcloud_alg_node.h.

Constructor & Destructor Documentation

TrajectoryScans2PointcloudAlgNode::TrajectoryScans2PointcloudAlgNode ( void )

Constructor.

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

Definition at line 3 of file trajectory_scans_2_pointcloud_alg_node.cpp.

TrajectoryScans2PointcloudAlgNode::~TrajectoryScans2PointcloudAlgNode ( void )

Destructor.

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

Definition at line 27 of file trajectory_scans_2_pointcloud_alg_node.cpp.

Member Function Documentation

void TrajectoryScans2PointcloudAlgNode::add_to_PointCloud_msg ( const sensor_msgs::PointCloud2 & newPointCloud ) [protected]

laser scan to point cloud

Add all points of a point cloud in the point cloud message

Parameters:

newPointCloud The PointCloud2 to add at PointCloud2 message

Definition at line 190 of file trajectory_scans_2_pointcloud_alg_node.cpp.

void TrajectoryScans2PointcloudAlgNode::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< TrajectoryScans2PointcloudAlgorithm >.

Definition at line 119 of file trajectory_scans_2_pointcloud_alg_node.cpp.

void TrajectoryScans2PointcloudAlgNode::clear_PointCloud_msg ( ) [protected]

laser scan to point cloud

Clear the point cloud message

Definition at line 216 of file trajectory_scans_2_pointcloud_alg_node.cpp.

sensor_msgs::PointCloud2 TrajectoryScans2PointcloudAlgNode::laser_scan_to_point_cloud	(	const sensor_msgs::LaserScan &	LScan,
		const geometry_msgs::Pose &	pose
	)		`[protected]`

laser scan to point cloud

Convert laser scan message to a pointCloud2 message in a global frame

Parameters:

LScan The laser scan message to convert

Returns:: PointCloud2

Definition at line 176 of file trajectory_scans_2_pointcloud_alg_node.cpp.

void TrajectoryScans2PointcloudAlgNode::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< TrajectoryScans2PointcloudAlgorithm >.

Definition at line 32 of file trajectory_scans_2_pointcloud_alg_node.cpp.

void TrajectoryScans2PointcloudAlgNode::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< TrajectoryScans2PointcloudAlgorithm >.

Definition at line 107 of file trajectory_scans_2_pointcloud_alg_node.cpp.

bool TrajectoryScans2PointcloudAlgNode::recompute_PointCloud_msg ( const iri_poseslam::Trajectory & trajectory ) [protected]

recompute PointCloud msg

Recompute the PointCloud message after a new trajectory msg received.

Parameters:

trajectory the new trajectory msg