IRI ROS Specific Algorithm Class. More...

#include <finddd_alg_node.h>

Inheritance diagram for FindddAlgNode:

Public Member Functions
	FindddAlgNode (void)
	Constructor.
	~FindddAlgNode (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
iri_perception_msgs::DescriptorSet	get_finddd_from_pointcloud (const sensor_msgs::PointCloud2 &ros_pointcloud)
bool	get_finddd_from_pointcloudCallback (iri_perception_msgs::PclToDescriptorSet::Request &req, iri_perception_msgs::PclToDescriptorSet::Response &res)
void	points_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
float	accumulated_time
ros::Publisher	descriptor_publisher_
CMutex	get_finddd_from_pointcloud_mutex_
ros::ServiceServer	get_finddd_from_pointcloud_server_
ros::Subscriber	points_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file finddd_alg_node.h.

Constructor & Destructor Documentation

FindddAlgNode::FindddAlgNode ( void )

Constructor.

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

Definition at line 3 of file finddd_alg_node.cpp.

FindddAlgNode::~FindddAlgNode ( void )

Destructor.

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

Definition at line 26 of file finddd_alg_node.cpp.

Member Function Documentation

void FindddAlgNode::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< FindddAlgorithm >.

Definition at line 75 of file finddd_alg_node.cpp.

iri_perception_msgs::DescriptorSet FindddAlgNode::get_finddd_from_pointcloud ( const sensor_msgs::PointCloud2 & ros_pointcloud ) [private]

Definition at line 88 of file finddd_alg_node.cpp.

bool FindddAlgNode::get_finddd_from_pointcloudCallback	(	iri_perception_msgs::PclToDescriptorSet::Request &	req,
		iri_perception_msgs::PclToDescriptorSet::Response &	res
	)		`[private]`

Definition at line 45 of file finddd_alg_node.cpp.

void FindddAlgNode::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< FindddAlgorithm >.

Definition at line 31 of file finddd_alg_node.cpp.

void FindddAlgNode::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< FindddAlgorithm >.

Definition at line 59 of file finddd_alg_node.cpp.

void FindddAlgNode::points_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 68 of file finddd_alg_node.cpp.