IRI ROS Specific Algorithm Class. More...

#include <my_map_checker_alg_node.h>

Inheritance diagram for MyMapCheckerAlgNode:

Public Member Functions
	MyMapCheckerAlgNode (void)
	Constructor.
	~MyMapCheckerAlgNode (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 Attributes
string	force_map_path_
ros::Publisher	force_map_publisher_
visualization_msgs::Marker	force_marker_
unsigned int	map_number_x_
unsigned int	map_number_y_
visualization_msgs::MarkerArray	MarkerArray_msg_
float	max_x_
float	max_y_
float	min_x_
float	min_y_
visualization_msgs::Marker	obstacle_marker_
Chri_appr	pred_
float	resolution_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 42 of file my_map_checker_alg_node.h.

Constructor & Destructor Documentation

MyMapCheckerAlgNode::MyMapCheckerAlgNode ( void )

Constructor.

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

Definition at line 4 of file my_map_checker_alg_node.cpp.

MyMapCheckerAlgNode::~MyMapCheckerAlgNode ( void )

Destructor.

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

Definition at line 56 of file my_map_checker_alg_node.cpp.

Member Function Documentation

void MyMapCheckerAlgNode::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< MyMapCheckerAlgorithm >.

Definition at line 136 of file my_map_checker_alg_node.cpp.

void MyMapCheckerAlgNode::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< MyMapCheckerAlgorithm >.

Definition at line 61 of file my_map_checker_alg_node.cpp.

void MyMapCheckerAlgNode::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< MyMapCheckerAlgorithm >.

Definition at line 129 of file my_map_checker_alg_node.cpp.