IRI ROS Specific Algorithm Class. More...

#include <hole_detection_alg_node.h>

Inheritance diagram for HoleDetectionAlgNode:

Public Member Functions
	HoleDetectionAlgNode (void)
	Constructor.
	~HoleDetectionAlgNode (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	input_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
float	box_x
float	box_y_end
float	box_y_ini
float	box_z_end
float	box_z_ini
pcl::PointCloud< pcl::PointXYZ >	cloud_in
pcl::PointCloud< pcl::PointXYZRGB >	cloud_in_rgb
ros::Publisher	hole_all_publisher_
HoleDetectionAlgorithm	hole_detect
int	hole_min_p
ros::Publisher	hole_obstacle_publisher_
CMutex	input_mutex_
ros::Subscriber	input_subscriber_
sensor_msgs::PointCloud2	PointCloud2_msg_
sensor_msgs::PointCloud2	PointCloud2_msg_all
sensor_msgs::PointCloud	PointCloud_msg_
float	Xc
float	Xl
float	Xr
float	Y

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 54 of file hole_detection_alg_node.h.

Constructor & Destructor Documentation

HoleDetectionAlgNode::HoleDetectionAlgNode ( void )

Constructor.

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

Definition at line 3 of file hole_detection_alg_node.cpp.

HoleDetectionAlgNode::~HoleDetectionAlgNode ( void )

Destructor.

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

Definition at line 26 of file hole_detection_alg_node.cpp.

Member Function Documentation

void HoleDetectionAlgNode::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< HoleDetectionAlgorithm >.

Definition at line 128 of file hole_detection_alg_node.cpp.

void HoleDetectionAlgNode::input_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 44 of file hole_detection_alg_node.cpp.

void HoleDetectionAlgNode::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< HoleDetectionAlgorithm >.

Definition at line 31 of file hole_detection_alg_node.cpp.

void HoleDetectionAlgNode::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< HoleDetectionAlgorithm >.

Definition at line 116 of file hole_detection_alg_node.cpp.