Public Types | Public Member Functions | Public Attributes | Protected Attributes
StereoVisualOdometryAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <stereo_visual_odometry_alg.h>

List of all members.

Public Types

typedef
iri_stereo_visual_odometry::StereoVisualOdometryConfig 
Config
 define config type

Public Member Functions

void compute_H_Hcov (cv::Mat &img1, cv::Mat &img2, cv::Mat &img3, cv::Mat &img4, cv::Mat &H, cv::Mat &Hcov, cv::Mat &point)
void config_update (Config &new_cfg, uint32_t level=0)
 config update
void extract_ypr (cv::Mat &H, double &y, double &p, double &r)
void lock (void)
 Lock Algorithm.
 StereoVisualOdometryAlgorithm (void)
 constructor
bool try_enter (void)
 Tries Access to Algorithm.
void unlock (void)
 Unlock Algorithm.
 ~StereoVisualOdometryAlgorithm (void)
 Destructor.

Public Attributes

Config config_
 config variable

Protected Attributes

CMutex alg_mutex_
 define config type

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 43 of file stereo_visual_odometry_alg.h.


Member Typedef Documentation

typedef iri_stereo_visual_odometry::StereoVisualOdometryConfig StereoVisualOdometryAlgorithm::Config

define config type

Define a Config type with the StereoVisualOdometryConfig. All driver implementations will then use the same variable type Config.

Definition at line 63 of file stereo_visual_odometry_alg.h.


Constructor & Destructor Documentation

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 5 of file stereo_visual_odometry_alg.cpp.

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 9 of file stereo_visual_odometry_alg.cpp.


Member Function Documentation

void StereoVisualOdometryAlgorithm::compute_H_Hcov ( cv::Mat &  img1,
cv::Mat &  img2,
cv::Mat &  img3,
cv::Mat &  img4,
cv::Mat &  H,
cv::Mat &  Hcov,
cv::Mat &  point 
)

Definition at line 31 of file stereo_visual_odometry_alg.cpp.

void StereoVisualOdometryAlgorithm::config_update ( Config new_cfg,
uint32_t  level = 0 
)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:
new_cfgthe new driver configuration state
levellevel in which the update is taken place

Definition at line 13 of file stereo_visual_odometry_alg.cpp.

void StereoVisualOdometryAlgorithm::extract_ypr ( cv::Mat &  H,
double &  y,
double &  p,
double &  r 
)

Definition at line 186 of file stereo_visual_odometry_alg.cpp.

void StereoVisualOdometryAlgorithm::lock ( void  ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 88 of file stereo_visual_odometry_alg.h.

Tries Access to Algorithm.

Tries access to Algorithm

Returns:
true if the lock was adquired, false otherwise

Definition at line 104 of file stereo_visual_odometry_alg.h.

void StereoVisualOdometryAlgorithm::unlock ( void  ) [inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 95 of file stereo_visual_odometry_alg.h.


Member Data Documentation

define config type

Define a Config type with the StereoVisualOdometryConfig. All driver implementations will then use the same variable type Config.

Definition at line 52 of file stereo_visual_odometry_alg.h.

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 71 of file stereo_visual_odometry_alg.h.


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


iri_stereo_visual_odometry
Author(s): gmoreno
autogenerated on Fri Dec 6 2013 23:59:48