IRI ROS Specific Algorithm Class. More...

#include <wrinkled_map_alg_node.h>

Inheritance diagram for WrinkledMapAlgNode:

Public Member Functions
	WrinkledMapAlgNode (void)
	Constructor.
	~WrinkledMapAlgNode (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	wrinkleCallback (const normal_descriptor_node::ndesc_pc &descs)
bool	wrinkleSrvCallback (iri_wrinkled_map::wrinkle::Request &req, iri_wrinkled_map::wrinkle::Response &res)
Private Attributes
sensor_msgs::PointCloud2	cloud_out_
ros::Publisher	heatmap_pointcloud_publisher_
ros::ServiceClient	ndesc_pc_service_client_
normal_descriptor_node::ndesc_pc_service	ndesc_pc_service_srv_
ros::Subscriber	normal_desc_subscriber_
CMutex	wrinkle_mutex_
ros::ServiceServer	wrinkle_server_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file wrinkled_map_alg_node.h.

Constructor & Destructor Documentation

WrinkledMapAlgNode::WrinkledMapAlgNode ( void )

Constructor.

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

Definition at line 3 of file wrinkled_map_alg_node.cpp.

WrinkledMapAlgNode::~WrinkledMapAlgNode ( void )

Destructor.

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

Definition at line 26 of file wrinkled_map_alg_node.cpp.

Member Function Documentation

void WrinkledMapAlgNode::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< WrinkledMapAlgorithm >.

Definition at line 96 of file wrinkled_map_alg_node.cpp.

void WrinkledMapAlgNode::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< WrinkledMapAlgorithm >.

Definition at line 31 of file wrinkled_map_alg_node.cpp.

void WrinkledMapAlgNode::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< WrinkledMapAlgorithm >.

Definition at line 89 of file wrinkled_map_alg_node.cpp.

void WrinkledMapAlgNode::wrinkleCallback ( const normal_descriptor_node::ndesc_pc & descs ) [private]

Definition at line 53 of file wrinkled_map_alg_node.cpp.