WrinkledMapAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <wrinkled_map_alg.h>

List of all members.

Public Types
typedef iri_wrinkled_map::WrinkledMapConfig	Config
	define config type
Public Member Functions
void	compute_entropy_wrinkled_map (const normal_descriptor_node::ndesc_pc &ndesc_pc_msg, pcl::PointCloud< pcl::PointXYZRGB > &hmap)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	WrinkledMapAlgorithm (void)
	constructor
	~WrinkledMapAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
bool	publish_wrinkled_map_
Protected Member Functions
float	compute_entropy (const normal_descriptor_node::ndesc &nd)
	compute histogram entropy
Protected Attributes
CMutex	alg_mutex_
	define config type
float	min_entropy_

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 61 of file wrinkled_map_alg.h.

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Member Typedef Documentation

typedef iri_wrinkled_map::WrinkledMapConfig WrinkledMapAlgorithm::Config

define config type

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

Definition at line 120 of file wrinkled_map_alg.h.

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Constructor & Destructor Documentation

WrinkledMapAlgorithm::WrinkledMapAlgorithm

(

void

)

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 74 of file wrinkled_map_alg.cpp.

WrinkledMapAlgorithm::~WrinkledMapAlgorithm

(

void

)

Destructor.

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

Definition at line 79 of file wrinkled_map_alg.cpp.

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Member Function Documentation

float WrinkledMapAlgorithm::compute_entropy

(

const normal_descriptor_node::ndesc &

nd

)

[inline, protected]

compute histogram entropy

Computes the entropy of a histogram (descripor)

Definition at line 84 of file wrinkled_map_alg.h.

void WrinkledMapAlgorithm::compute_entropy_wrinkled_map	(	const normal_descriptor_node::ndesc_pc &	ndesc_pc_msg,
		pcl::PointCloud< pcl::PointXYZRGB > &	hmap
	)

Definition at line 95 of file wrinkled_map_alg.cpp.

void WrinkledMapAlgorithm::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_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 83 of file wrinkled_map_alg.cpp.

void WrinkledMapAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 145 of file wrinkled_map_alg.h.

bool WrinkledMapAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 161 of file wrinkled_map_alg.h.

void WrinkledMapAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 152 of file wrinkled_map_alg.h.

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Member Data Documentation

CMutex WrinkledMapAlgorithm::alg_mutex_ [protected]

define config type

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

Definition at line 70 of file wrinkled_map_alg.h.

Config WrinkledMapAlgorithm::config_

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 128 of file wrinkled_map_alg.h.

float WrinkledMapAlgorithm::min_entropy_ [protected]

Definition at line 74 of file wrinkled_map_alg.h.

bool WrinkledMapAlgorithm::publish_wrinkled_map_

Definition at line 112 of file wrinkled_map_alg.h.

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

• wrinkled_map_alg.h
• wrinkled_map_alg.cpp