IRI ROS Specific Algorithm Class. More...

#include <camera_object_learner_server_alg_node.h>

Inheritance diagram for CameraObjectLearnerServerAlgNode:

Public Member Functions
	CameraObjectLearnerServerAlgNode (void)
	Constructor.
	~CameraObjectLearnerServerAlgNode (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
void	camera_info_callback (const sensor_msgs::CameraInfo::ConstPtr &msg)
bool	compute_init_rect ()
bool	initCallback (iri_camera_object_learner_server::init::Request &req, iri_camera_object_learner_server::init::Response &res)
void	people_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
Private Attributes
CMutex	camera_info_mutex_
ros::Subscriber	camera_info_subscriber_
image_geometry::PinholeCameraModel	camera_model
bool	init
CMutex	init_mutex_
geometry_msgs::PointStamped	init_point
cv::Rect	init_rect
ros::ServiceServer	init_server_
CMutex	people_mutex_
ros::Subscriber	people_subscriber_
bool	received_camera_info
bool	received_person
tf::TransformListener	tf_listener
double	window_height
double	window_offset
double	window_width

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file camera_object_learner_server_alg_node.h.

Constructor & Destructor Documentation

CameraObjectLearnerServerAlgNode::CameraObjectLearnerServerAlgNode ( void )

Constructor.

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

Definition at line 3 of file camera_object_learner_server_alg_node.cpp.

CameraObjectLearnerServerAlgNode::~CameraObjectLearnerServerAlgNode ( void )

Destructor.

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

Definition at line 27 of file camera_object_learner_server_alg_node.cpp.

Member Function Documentation

void CameraObjectLearnerServerAlgNode::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< CameraObjectLearnerServerAlgorithm >.

Definition at line 175 of file camera_object_learner_server_alg_node.cpp.

void CameraObjectLearnerServerAlgNode::camera_info_callback ( const sensor_msgs::CameraInfo::ConstPtr & msg ) [private]

Definition at line 45 of file camera_object_learner_server_alg_node.cpp.

bool CameraObjectLearnerServerAlgNode::compute_init_rect ( ) [private]

Definition at line 185 of file camera_object_learner_server_alg_node.cpp.

bool CameraObjectLearnerServerAlgNode::initCallback	(	iri_camera_object_learner_server::init::Request &	req,
		iri_camera_object_learner_server::init::Response &	res
	)		`[private]`

Definition at line 106 of file camera_object_learner_server_alg_node.cpp.

void CameraObjectLearnerServerAlgNode::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< CameraObjectLearnerServerAlgorithm >.

Definition at line 32 of file camera_object_learner_server_alg_node.cpp.

void CameraObjectLearnerServerAlgNode::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< CameraObjectLearnerServerAlgorithm >.

Definition at line 165 of file camera_object_learner_server_alg_node.cpp.

void CameraObjectLearnerServerAlgNode::people_callback ( const iri_perception_msgs::detectionArray::ConstPtr & msg ) [private]

Definition at line 68 of file camera_object_learner_server_alg_node.cpp.