IRI ROS Specific Driver Class. More...

#include <zyonz_image_based_leaf_probing_alg.h>

Public Types
typedef zyonz_image_based_leaf_probing::ZyonzImageBasedLeafProbingConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	find_probing_pose (const Eigen::Vector3f probing_point, const Eigen::Vector3f x_vector, const Eigen::Vector3f normal_vector, Eigen::Quaternionf &probing_pose)
void	find_probing_pose_by_PCA (const int label, int *clusters, const image< rgb > pc, Eigen::Quaternionf &probing_pose, Eigen::Vector3f &normal_vector)
cv_bridge::CvImagePtr	get_confidence_image ()
float	get_k ()
bool	get_leaf_probing_point (const sensor_msgs::PointCloud2::ConstPtr &msg)
int	get_min_size ()
Eigen::Vector3f	get_probing_point ()
zyonz_msgs::ProbingSteps	get_probing_step ()
cv_bridge::CvImagePtr	get_seg_image ()
float	get_sigma ()
void	lock (void)
	Lock Algorithm.
void	set_k (float new_k)
void	set_min_size (int new_min_size)
void	set_sigma (float new_sigma)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	ZyonzImageBasedLeafProbingAlgorithm (void)
	constructor
	~ZyonzImageBasedLeafProbingAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
cv_bridge::CvImagePtr	confidence_cv_ptr_
double *	goal_parameters_
float	k_
image< rgb > *	leaf_confidence_
size_t	min_size_
pcl::PointCloud< pcl::PointXYZRGB >	pcl_xyzrgb_
Eigen::Vector3f	probing_point_
zyonz_msgs::ProbingSteps	probing_step_
cv_bridge::CvImagePtr	seg_cv_ptr_
float	sigma_
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 48 of file zyonz_image_based_leaf_probing_alg.h.

Member Typedef Documentation

typedef zyonz_image_based_leaf_probing::ZyonzImageBasedLeafProbingConfig ZyonzImageBasedLeafProbingAlgorithm::Config

define config type

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

Definition at line 82 of file zyonz_image_based_leaf_probing_alg.h.

Constructor & Destructor Documentation

ZyonzImageBasedLeafProbingAlgorithm::ZyonzImageBasedLeafProbingAlgorithm ( 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 12 of file zyonz_image_based_leaf_probing_alg.cpp.

ZyonzImageBasedLeafProbingAlgorithm::~ZyonzImageBasedLeafProbingAlgorithm ( void )

Destructor.

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

Definition at line 17 of file zyonz_image_based_leaf_probing_alg.cpp.

Member Function Documentation

void ZyonzImageBasedLeafProbingAlgorithm::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 21 of file zyonz_image_based_leaf_probing_alg.cpp.

void ZyonzImageBasedLeafProbingAlgorithm::find_probing_pose	(	const Eigen::Vector3f	probing_point,
		const Eigen::Vector3f	x_vector,
		const Eigen::Vector3f	normal_vector,
		Eigen::Quaternionf &	probing_pose
	)

Definition at line 217 of file zyonz_image_based_leaf_probing_alg.cpp.

void ZyonzImageBasedLeafProbingAlgorithm::find_probing_pose_by_PCA	(	const int	label,
		int **	clusters,
		const image< rgb > *	pc,
		Eigen::Quaternionf &	probing_pose,
		Eigen::Vector3f &	normal_vector
	)