artag_virtual_features_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _artag_virtual_features_alg_node_h_
00026 #define _artag_virtual_features_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "artag_image_based_vs_alg.h"
00030 
00031 #include <tf/transform_datatypes.h>
00032 
00033 // [publisher subscriber headers]
00034 #include <ar_pose/ARMarkers.h>
00035 #include <std_msgs/Float64MultiArray.h>
00036 #include <std_msgs/Bool.h>
00037 
00038 // [service client headers]
00039 
00040 // [action server client headers]
00041 
00046 class ArtagImageBasedVsAlgNode : public algorithm_base::IriBaseAlgorithm<ArtagImageBasedVsAlgorithm>
00047 {
00048   private:
00049     // [publisher attributes]
00050     ros::Publisher pn_publisher_;
00051     std_msgs::Float64MultiArray pn_msg_;
00052     ros::Publisher cj_0_publisher_;
00053     std_msgs::Float64MultiArray cj_0_msg_;
00054     ros::Publisher P0_publisher_;
00055     std_msgs::Float64MultiArray P0_msg_;
00056     ros::Publisher alfas_publisher_;
00057     std_msgs::Float64MultiArray alfas_msg_;
00058     ros::Publisher cP_publisher_;
00059     std_msgs::Float64MultiArray cP_msg_;  
00060     ros::Publisher object_found_publisher_;
00061     std_msgs::Bool object_found_msg_;    
00062 
00063     // [subscriber attributes]
00064     void marker_callback(const ar_pose::ARMarkers::ConstPtr& msg);
00065     ros::Subscriber marker_subscriber_;
00066     CMutex marker_mutex_;
00067     // [service attributes]
00068 
00069     // [client attributes]
00070 
00071     // [action server attributes]
00072 
00073     // [action client attributes]
00074 
00075     Eigen::MatrixXd pn_; //Virtual features
00076     Eigen::MatrixXd cj_0_; //Virtual features mean point
00077     Eigen::MatrixXd P0_; //Base points (barycentric coordinates)
00078     Eigen::MatrixXd alfas_; //Proportional factors to form each point with the basis (alfas)
00079     Eigen::MatrixXd cP_; //Current virtual features detected (with the ARtag transform)
00080     Eigen::Matrix4d cTo_; //Marker transform in the camera frame
00081     int n_;
00082     bool random_points_; //To compute random virtual features
00083     bool planar_; //To check basis planarity
00084     bool init_; //To execute only once at initial point
00085     bool object_found_; //Marker detected or not
00086 
00087   public:
00094     ArtagImageBasedVsAlgNode(void);
00095 
00102     ~ArtagImageBasedVsAlgNode(void);
00103 
00104   protected:
00117     void mainNodeThread(void);
00125     void virtual_features();
00126 
00132     void fill_msg(std_msgs::Float64MultiArray& msg, const Eigen::MatrixXd& data);
00133 
00146     void node_config_update(Config &config, uint32_t level);
00147 
00154     void addNodeDiagnostics(void);
00155 
00156     // [diagnostic functions]
00157     
00158     // [test functions]
00159 };
00160 
00161 #endif


iri_artag_image_based_vs
Author(s): asantamaria
autogenerated on Fri Dec 6 2013 23:54:58