IRI ROS Specific Algorithm Class. More...

#include <zyonz_obtain_roi_jump_edge_based_alg_node.h>

Inheritance diagram for ZyonzObtainRoiJumpEdgeBasedAlgNode:

Public Member Functions
	ZyonzObtainRoiJumpEdgeBasedAlgNode (void)
	Constructor.
	~ZyonzObtainRoiJumpEdgeBasedAlgNode (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
bool	extract_two_leaves_roiCallback (zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Request &req, zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Response &res)
Private Attributes
CMutex	extract_two_leaves_roi_mutex_
ros::ServiceServer	extract_two_leaves_roi_server_
ros::Publisher	roi_img_publisher_
ros::Publisher	roi_pc_publisher_
ros::Publisher	roi_pose_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file zyonz_obtain_roi_jump_edge_based_alg_node.h.

Constructor & Destructor Documentation

ZyonzObtainRoiJumpEdgeBasedAlgNode::ZyonzObtainRoiJumpEdgeBasedAlgNode ( void )

Constructor.

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

Definition at line 3 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.

ZyonzObtainRoiJumpEdgeBasedAlgNode::~ZyonzObtainRoiJumpEdgeBasedAlgNode ( void )

Destructor.

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

Definition at line 26 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.

Member Function Documentation

void ZyonzObtainRoiJumpEdgeBasedAlgNode::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< ZyonzObtainRoiJumpEdgeBasedAlgorithm >.

Definition at line 97 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.

bool ZyonzObtainRoiJumpEdgeBasedAlgNode::extract_two_leaves_roiCallback	(	zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Request &	req,
		zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Response &	res
	)		`[private]`

Definition at line 47 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.

void ZyonzObtainRoiJumpEdgeBasedAlgNode::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< ZyonzObtainRoiJumpEdgeBasedAlgorithm >.

Definition at line 31 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.

void ZyonzObtainRoiJumpEdgeBasedAlgNode::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< ZyonzObtainRoiJumpEdgeBasedAlgorithm >.

Definition at line 90 of file zyonz_obtain_roi_jump_edge_based_alg_node.cpp.