IRI ROS Specific Algorithm Class. More...

#include <cylinder_detector_alg_node.h>

Inheritance diagram for CylinderDetectorAlgNode:

Public Member Functions
	CylinderDetectorAlgNode (void)
	Constructor.
	~CylinderDetectorAlgNode (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	cloud_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
ros::Publisher	cloud_filtered_publisher_
CMutex	cloud_mutex_
ros::Subscriber	cloud_subscriber_
ros::Publisher	marker_publisher_
visualization_msgs::MarkerArray	MarkerArray_msg_
sensor_msgs::PointCloud2	PointCloud2_msg_
ros::Publisher	pose_publisher_
geometry_msgs::PoseStamped	PoseStamped_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file cylinder_detector_alg_node.h.

Constructor & Destructor Documentation

CylinderDetectorAlgNode::CylinderDetectorAlgNode ( void )

Constructor.

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

Definition at line 19 of file cylinder_detector_alg_node.cpp.

CylinderDetectorAlgNode::~CylinderDetectorAlgNode ( void )

Destructor.

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

Definition at line 46 of file cylinder_detector_alg_node.cpp.

Member Function Documentation

void CylinderDetectorAlgNode::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< CylinderDetectorAlgorithm >.

Definition at line 219 of file cylinder_detector_alg_node.cpp.

void CylinderDetectorAlgNode::cloud_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 63 of file cylinder_detector_alg_node.cpp.

void CylinderDetectorAlgNode::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< CylinderDetectorAlgorithm >.

Definition at line 51 of file cylinder_detector_alg_node.cpp.

void CylinderDetectorAlgNode::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< CylinderDetectorAlgorithm >.

Definition at line 212 of file cylinder_detector_alg_node.cpp.