Public Member Functions | Private Member Functions | Private Attributes
naocamera_driver::NaoCameraDriver Class Reference

#include <nao_camera.h>

Inheritance diagram for naocamera_driver::NaoCameraDriver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 NaoCameraDriver (int argc, char **argv, ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void poll (void)
void setup (void)
void shutdown (void)
 ~NaoCameraDriver ()

Private Member Functions

void closeCamera ()
bool openCamera (Config &newconfig)
void publish (const sensor_msgs::ImagePtr &image)
bool read (sensor_msgs::ImagePtr &image)
void reconfig (naocamera::NaoCameraConfig &newconfig, uint32_t level)

Private Attributes

bool calibration_matches_
std::string camera_name_
ros::NodeHandle camera_nh_
boost::shared_ptr
< AL::ALVideoDeviceProxy > 
camera_proxy_
boost::shared_ptr
< camera_info_manager::CameraInfoManager
cinfo_
naocamera::NaoCameraConfig config_
ros::Rate cycle_
diagnostic_updater::Updater diagnostics_
std::string frame_id_
image_transport::CameraPublisher image_pub_
boost::shared_ptr
< image_transport::ImageTransport
it_
ros::NodeHandle priv_nh_
ros::Rate real_frame_rate_
volatile bool reconfiguring_
uint32_t retries_
dynamic_reconfigure::Server
< naocamera::NaoCameraConfig > 
srv_
volatile
driver_base::Driver::state_t 
state_
diagnostic_updater::TopicDiagnostic topic_diagnostics_
double topic_diagnostics_max_freq_
double topic_diagnostics_min_freq_

Detailed Description

Definition at line 79 of file nao_camera.h.


Constructor & Destructor Documentation

naocamera_driver::NaoCameraDriver::NaoCameraDriver ( int  argc,
char **  argv,
ros::NodeHandle  priv_nh,
ros::NodeHandle  camera_nh 
)

Definition at line 89 of file nao_camera.cpp.

Definition at line 123 of file nao_camera.cpp.


Member Function Documentation

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 130 of file nao_camera.cpp.

bool naocamera_driver::NaoCameraDriver::openCamera ( Config newconfig) [private]

Open the camera device.

Parameters:
newconfigconfiguration parameters
Returns:
true, if successful
Postcondition:
diagnostics frequency parameters set

if successful: state_ is Driver::OPENED camera_name_ set to GUID string GUID configuration parameter updated

Definition at line 152 of file nao_camera.cpp.

device poll

Definition at line 219 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::publish ( const sensor_msgs::ImagePtr &  image) [private]

Publish camera stream topics

Parameters:
imagepoints to latest camera frame

Definition at line 274 of file nao_camera.cpp.

bool naocamera_driver::NaoCameraDriver::read ( sensor_msgs::ImagePtr &  image) [private]

Read camera data.

Parameters:
imagepoints to camera Image message
Returns:
true if successful, with image filled in

Definition at line 326 of file nao_camera.cpp.

void naocamera_driver::NaoCameraDriver::reconfig ( naocamera::NaoCameraConfig &  newconfig,
uint32_t  level 
) [private]

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:
newconfignew Config values
levelbit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 381 of file nao_camera.cpp.

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 488 of file nao_camera.cpp.

driver termination

Definition at line 496 of file nao_camera.cpp.


Member Data Documentation

Definition at line 122 of file nao_camera.h.

Definition at line 106 of file nao_camera.h.

Definition at line 105 of file nao_camera.h.

boost::shared_ptr<AL::ALVideoDeviceProxy> naocamera_driver::NaoCameraDriver::camera_proxy_ [private]

NAOqi proxy

Definition at line 114 of file nao_camera.h.

camera calibration information

Definition at line 121 of file nao_camera.h.

naocamera::NaoCameraConfig naocamera_driver::NaoCameraDriver::config_ [private]

dynamic parameter configuration

Definition at line 117 of file nao_camera.h.

Definition at line 108 of file nao_camera.h.

diagnostics updater

Definition at line 129 of file nao_camera.h.

Definition at line 107 of file nao_camera.h.

Definition at line 126 of file nao_camera.h.

image transport interfaces

Definition at line 125 of file nao_camera.h.

Definition at line 104 of file nao_camera.h.

Definition at line 109 of file nao_camera.h.

Definition at line 103 of file nao_camera.h.

Definition at line 110 of file nao_camera.h.

dynamic_reconfigure::Server<naocamera::NaoCameraConfig> naocamera_driver::NaoCameraDriver::srv_ [private]

Definition at line 118 of file nao_camera.h.

driver state variables

Definition at line 102 of file nao_camera.h.

Definition at line 132 of file nao_camera.h.

Definition at line 131 of file nao_camera.h.

Definition at line 130 of file nao_camera.h.


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


nao_sensors
Author(s): Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
autogenerated on Sun Nov 2 2014 11:27:42