NormalDescriptorAlgNode Class Reference

IRI ROS Specific Driver Class. More...

#include <normal_descriptor_alg_node.h>

Inheritance diagram for NormalDescriptorAlgNode:

List of all members.

Public Member Functions
	NormalDescriptorAlgNode (void)
	Constructor.
	~NormalDescriptorAlgNode (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	compute_and_publish_descs (pcl::PointCloud< pcl::PointXYZ > &cloud, normal_descriptor_node::ndesc_pc &ndesc_pc_msg)
void	points_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
bool	points_service_callback (normal_descriptor_node::ndesc_pc_service::Request &req, normal_descriptor_node::ndesc_pc_service::Response &res)
Private Attributes
ros::Publisher	descriptor_publisher_
ros::ServiceServer	point_desc_service_
ros::Subscriber	points_subscriber_

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 44 of file normal_descriptor_alg_node.h.

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Constructor & Destructor Documentation

NormalDescriptorAlgNode::NormalDescriptorAlgNode

(

void

)

Constructor.

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

Definition at line 3 of file normal_descriptor_alg_node.cpp.

NormalDescriptorAlgNode::~NormalDescriptorAlgNode

(

void

)

Destructor.

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

Definition at line 23 of file normal_descriptor_alg_node.cpp.

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Member Function Documentation

void NormalDescriptorAlgNode::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< NormalDescriptorAlgorithm >.

Definition at line 94 of file normal_descriptor_alg_node.cpp.

void NormalDescriptorAlgNode::compute_and_publish_descs	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		normal_descriptor_node::ndesc_pc &	ndesc_pc_msg
	)		[private]

Definition at line 54 of file normal_descriptor_alg_node.cpp.

void NormalDescriptorAlgNode::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< NormalDescriptorAlgorithm >.

Definition at line 28 of file normal_descriptor_alg_node.cpp.

void NormalDescriptorAlgNode::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< NormalDescriptorAlgorithm >.

Definition at line 48 of file normal_descriptor_alg_node.cpp.

void NormalDescriptorAlgNode::points_callback

(

const sensor_msgs::PointCloud2::ConstPtr &

msg

)

[private]

Definition at line 71 of file normal_descriptor_alg_node.cpp.

bool NormalDescriptorAlgNode::points_service_callback	(	normal_descriptor_node::ndesc_pc_service::Request &	req,
		normal_descriptor_node::ndesc_pc_service::Response &	res
	)		[private]

Definition at line 82 of file normal_descriptor_alg_node.cpp.

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Member Data Documentation

ros::Publisher NormalDescriptorAlgNode::descriptor_publisher_ [private]

Definition at line 48 of file normal_descriptor_alg_node.h.

ros::ServiceServer NormalDescriptorAlgNode::point_desc_service_ [private]

Definition at line 55 of file normal_descriptor_alg_node.h.

ros::Subscriber NormalDescriptorAlgNode::points_subscriber_ [private]

Definition at line 51 of file normal_descriptor_alg_node.h.

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

• normal_descriptor_alg_node.h
• normal_descriptor_alg_node.cpp