Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
TibiDaboFaceTrackingAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_face_tracking_alg_node.h>

Inheritance diagram for TibiDaboFaceTrackingAlgNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 TibiDaboFaceTrackingAlgNode (void)
 Constructor.
 ~TibiDaboFaceTrackingAlgNode (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 face_detections_callback (const face_detector_mono::RectArray::ConstPtr &msg)
void follow_targetActive ()
void follow_targetDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void follow_targetFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void follow_targetMakeActionRequest ()

Private Attributes

CMutex face_detections_mutex_
ros::Subscriber face_detections_subscriber_
bool first
double focus_length_x
double focus_length_y
actionlib::SimpleActionClient
< iri_nav_msgs::followTargetAction
follow_target_client_
iri_nav_msgs::followTargetGoal follow_target_goal_
double image_height
double image_width
trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_
ros::Publisher target_joints_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file tibi_dabo_face_tracking_alg_node.h.


Constructor & Destructor Documentation

Constructor.

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

Definition at line 3 of file tibi_dabo_face_tracking_alg_node.cpp.

Destructor.

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

Definition at line 40 of file tibi_dabo_face_tracking_alg_node.cpp.


Member Function Documentation

void TibiDaboFaceTrackingAlgNode::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< TibiDaboFaceTrackingAlgorithm >.

Definition at line 191 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::face_detections_callback ( const face_detector_mono::RectArray::ConstPtr &  msg) [private]

Definition at line 56 of file tibi_dabo_face_tracking_alg_node.cpp.

Definition at line 143 of file tibi_dabo_face_tracking_alg_node.cpp.

Definition at line 133 of file tibi_dabo_face_tracking_alg_node.cpp.

Definition at line 148 of file tibi_dabo_face_tracking_alg_node.cpp.

Definition at line 166 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::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< TibiDaboFaceTrackingAlgorithm >.

Definition at line 45 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::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:
configan object with new configuration from all algorithm parameters defined in the config file.
levelinteger referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboFaceTrackingAlgorithm >.

Definition at line 184 of file tibi_dabo_face_tracking_alg_node.cpp.


Member Data Documentation

Definition at line 56 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 54 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 77 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 74 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 75 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 65 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 66 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 73 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 72 of file tibi_dabo_face_tracking_alg_node.h.

trajectory_msgs::JointTrajectoryPoint TibiDaboFaceTrackingAlgNode::JointTrajectoryPoint_msg_ [private]

Definition at line 51 of file tibi_dabo_face_tracking_alg_node.h.

Definition at line 50 of file tibi_dabo_face_tracking_alg_node.h.


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


tibi_dabo_face_tracking
Author(s): Sergi Hernandez Juan
autogenerated on Fri Dec 6 2013 22:23:46