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

IRI ROS Specific Algorithm Class. More...

#include <zyonz_obtain_two_clustered_leaves_alg_node.h>

Inheritance diagram for ZyonzObtainTwoClusteredLeavesAlgNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ZyonzObtainTwoClusteredLeavesAlgNode (void)
 Constructor.
 ~ZyonzObtainTwoClusteredLeavesAlgNode (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_clustersCallback (zyonz_obtain_two_clustered_leaves::ExtractClusters::Request &req, zyonz_obtain_two_clustered_leaves::ExtractClusters::Response &res)

Private Attributes

ros::Publisher cluster_a_img_publisher_
ros::Publisher cluster_a_publisher_
ros::Publisher cluster_b_img_publisher_
ros::Publisher cluster_b_publisher_
CMutex extract_clusters_mutex_
ros::ServiceServer extract_clusters_server_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file zyonz_obtain_two_clustered_leaves_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 zyonz_obtain_two_clustered_leaves_alg_node.cpp.

Destructor.

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

Definition at line 27 of file zyonz_obtain_two_clustered_leaves_alg_node.cpp.


Member Function Documentation

void ZyonzObtainTwoClusteredLeavesAlgNode::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< ZyonzObtainTwoClusteredLeavesAlgorithm >.

Definition at line 98 of file zyonz_obtain_two_clustered_leaves_alg_node.cpp.

void ZyonzObtainTwoClusteredLeavesAlgNode::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< ZyonzObtainTwoClusteredLeavesAlgorithm >.

Definition at line 32 of file zyonz_obtain_two_clustered_leaves_alg_node.cpp.

void ZyonzObtainTwoClusteredLeavesAlgNode::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< ZyonzObtainTwoClusteredLeavesAlgorithm >.

Definition at line 91 of file zyonz_obtain_two_clustered_leaves_alg_node.cpp.


Member Data Documentation

Definition at line 48 of file zyonz_obtain_two_clustered_leaves_alg_node.h.

Definition at line 50 of file zyonz_obtain_two_clustered_leaves_alg_node.h.

Definition at line 49 of file zyonz_obtain_two_clustered_leaves_alg_node.h.

Definition at line 51 of file zyonz_obtain_two_clustered_leaves_alg_node.h.

Definition at line 58 of file zyonz_obtain_two_clustered_leaves_alg_node.h.

Definition at line 56 of file zyonz_obtain_two_clustered_leaves_alg_node.h.


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


zyonz_obtain_two_clustered_leaves
Author(s): sfoix
autogenerated on Fri Dec 6 2013 20:35:16