IRI ROS Specific Algorithm Class. More...

#include <get_board_information_alg_node.h>

Inheritance diagram for GetBoardInformationAlgNode:

Public Member Functions
	GetBoardInformationAlgNode (void)
	Constructor.
	~GetBoardInformationAlgNode (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	get_board_infoCallback (iri_clean_board::BoardInfo::Request &req, iri_clean_board::BoardInfo::Response &res)
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
void	plane_coefficients_callback (const pcl_msgs::ModelCoefficients::ConstPtr &msg)
void	pointcloud_in_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	publish_a_pointcloud ()
	Publish a PointCloud.
void	unreachable_position_callback (const estirabot_msgs::ImagePoint::ConstPtr &msg)
Private Attributes
ros::Publisher	believe_status_publisher_
sensor_msgs::Image	current_image
pcl_msgs::ModelCoefficients	current_plane_coeffs
sensor_msgs::PointCloud2	current_pointcloud
CEvent	EventInfoReady
CEvent	EventServiceWaiting
CMutex	get_board_info_mutex_
ros::ServiceServer	get_board_info_server_
CMutex	image_in_mutex_
ros::Subscriber	image_in_subscriber_
sensor_msgs::Image	Image_msg_
bool	is_service_waiting
sensor_msgs::Image	last_image
pcl_msgs::ModelCoefficients	last_plane_coeffs
sensor_msgs::PointCloud2	last_pointcloud
CMutex	plane_coefficients_mutex_
ros::Subscriber	plane_coefficients_subscriber_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	pointcloud_in_mutex_
ros::Subscriber	pointcloud_in_subscriber_
ros::Publisher	pointcloud_out_publisher_
CMutex	unreachable_position_mutex_
ros::Subscriber	unreachable_position_subscriber_
bool	waiting_for_coefficients
bool	waiting_for_image
bool	waiting_for_pointcloud

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 53 of file get_board_information_alg_node.h.

Constructor & Destructor Documentation

GetBoardInformationAlgNode::GetBoardInformationAlgNode ( void )

Constructor.

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

Definition at line 4 of file get_board_information_alg_node.cpp.

GetBoardInformationAlgNode::~GetBoardInformationAlgNode ( void )

Destructor.

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

Definition at line 45 of file get_board_information_alg_node.cpp.

Member Function Documentation

void GetBoardInformationAlgNode::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< GetBoardInformationAlgorithm >.

Definition at line 232 of file get_board_information_alg_node.cpp.

bool GetBoardInformationAlgNode::get_board_infoCallback	(	iri_clean_board::BoardInfo::Request &	req,
		iri_clean_board::BoardInfo::Response &	res
	)		`[private]`

Definition at line 189 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::image_in_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 169 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::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< GetBoardInformationAlgorithm >.

Definition at line 50 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::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< GetBoardInformationAlgorithm >.

Definition at line 225 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::plane_coefficients_callback ( const pcl_msgs::ModelCoefficients::ConstPtr & msg ) [private]

Definition at line 127 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::pointcloud_in_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 144 of file get_board_information_alg_node.cpp.

void GetBoardInformationAlgNode::publish_a_pointcloud ( ) [private]

Publish a PointCloud.

This method publishes the last PointCloud received

void GetBoardInformationAlgNode::unreachable_position_callback ( const estirabot_msgs::ImagePoint::ConstPtr & msg ) [private]

Definition at line 111 of file get_board_information_alg_node.cpp.