sift_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _sift_alg_node_h_
00026 #define _sift_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "sift_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <iri_publish_params/classifier_update.h>
00033 #include <iri_perception_msgs/GeoVwSet.h>
00034 #include <sensor_msgs/Image.h>
00035 
00036 // [service client headers]
00037 #include <iri_sift/DescriptorsFromImage.h>
00038 #include <iri_publish_params/classifier_update_service.h>
00039 #include <iri_sift/GeoVwSetSrv.h>
00040 
00041 // [action server client headers]
00042 
00043 // OpenCV
00044 #include <cv_bridge/cv_bridge.h>
00045 #include <sensor_msgs/image_encodings.h>
00046 #include <opencv2/imgproc/imgproc.hpp>
00047 
00052 class SiftAlgNode : public algorithm_base::IriBaseAlgorithm<SiftAlgorithm>
00053 {
00054   private:
00055     // [publisher attributes]
00056     ros::Publisher geo_vw_set_publisher_;
00057     iri_perception_msgs::GeoVwSet GeoVwSet_msg_;
00058 
00059     // [subscriber attributes]
00060     ros::Subscriber image_in_subscriber_;
00061     void image_in_callback(const sensor_msgs::Image::ConstPtr& msg);
00062     CMutex image_in_mutex_;
00063 
00064     // [service attributes]
00065     ros::ServiceServer descriptors_from_image_server_;
00066     bool descriptors_from_imageCallback(iri_sift::DescriptorsFromImage::Request &req, iri_sift::DescriptorsFromImage::Response &res);
00067     CMutex descriptors_from_image_mutex_;
00068     ros::ServiceServer set_sift_centroids_server_;
00069     bool set_sift_centroidsCallback(iri_publish_params::classifier_update_service::Request &req, iri_publish_params::classifier_update_service::Response &res);
00070     CMutex set_sift_centroids_mutex_;
00071     ros::ServiceServer get_geo_vw_set_server_;
00072     bool get_geo_vw_setCallback(iri_sift::GeoVwSetSrv::Request &req, iri_sift::GeoVwSetSrv::Response &res);
00073     CMutex get_geo_vw_set_mutex_;
00074 
00075     // [client attributes]
00076 
00077     // [action server attributes]
00078 
00079     // [action client attributes]
00080 
00081   public:
00088     SiftAlgNode(void);
00089 
00096     ~SiftAlgNode(void);
00097 
00098   protected:
00111     void mainNodeThread(void);
00112 
00125     void node_config_update(Config &config, uint32_t level);
00126 
00133     void addNodeDiagnostics(void);
00134 
00135     // [diagnostic functions]
00136     
00137     // [test functions]
00138 };
00139 
00140 #endif


iri_sift
Author(s): dmartinez
autogenerated on Fri Dec 6 2013 22:44:31