IRI ROS Specific Algorithm Class. More...

#include <filter_jump_edge_alg_node.h>

Inheritance diagram for FilterJumpEdgeAlgNode:

Public Member Functions
	FilterJumpEdgeAlgNode (void)
	Constructor.
	~FilterJumpEdgeAlgNode (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	apply_jump_edge_filterCallback (iri_filter_jump_edge::ApplyPointCloudFilter::Request &req, iri_filter_jump_edge::ApplyPointCloudFilter::Response &res)
void	camera_info_callback (const sensor_msgs::CameraInfo::ConstPtr &msg)
void	pcl_input_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
double	ang_thr_
CMutex	apply_jump_edge_filter_mutex_
ros::ServiceServer	apply_jump_edge_filter_server_
CMutex	camera_info_mutex_
ros::Subscriber	camera_info_subscriber_
ros::Publisher	filtered_pc_publisher_
CMutex	pcl_input_mutex_
ros::Subscriber	pcl_input_subscriber_
ros::Publisher	residual_img_publisher_
ros::Publisher	residual_pc_publisher_
double	skw_
double	sx_
double	sy_
double	u0_
double	v0_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 47 of file filter_jump_edge_alg_node.h.

Constructor & Destructor Documentation

FilterJumpEdgeAlgNode::FilterJumpEdgeAlgNode ( void )

Constructor.

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

Definition at line 3 of file filter_jump_edge_alg_node.cpp.

FilterJumpEdgeAlgNode::~FilterJumpEdgeAlgNode ( void )

Destructor.

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

Definition at line 39 of file filter_jump_edge_alg_node.cpp.

Member Function Documentation

void FilterJumpEdgeAlgNode::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< FilterJumpEdgeAlgorithm >.

Definition at line 157 of file filter_jump_edge_alg_node.cpp.

bool FilterJumpEdgeAlgNode::apply_jump_edge_filterCallback	(	iri_filter_jump_edge::ApplyPointCloudFilter::Request &	req,
		iri_filter_jump_edge::ApplyPointCloudFilter::Response &	res
	)		`[private]`

Definition at line 114 of file filter_jump_edge_alg_node.cpp.

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

Definition at line 62 of file filter_jump_edge_alg_node.cpp.

void FilterJumpEdgeAlgNode::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< FilterJumpEdgeAlgorithm >.

Definition at line 44 of file filter_jump_edge_alg_node.cpp.

void FilterJumpEdgeAlgNode::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< FilterJumpEdgeAlgorithm >.

Definition at line 149 of file filter_jump_edge_alg_node.cpp.

void FilterJumpEdgeAlgNode::pcl_input_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 87 of file filter_jump_edge_alg_node.cpp.