IRI ROS Specific Driver Class. More...

#include <hole_detection_alg.h>

Public Types
typedef iri_hole_detection::HoleDetectionConfig	Config
	define config type
Public Member Functions
void	cloud_all (int hole_min_p, float box_y_end, float box_z_ini, float box_x, float box_y_ini, float box_z_end, float Xl, float Xc, float Xr, float Y, pcl::PointCloud< pcl::PointXYZRGB > &cloud_in, pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud_out)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	HoleDetectionAlgorithm (void)
	constructor
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~HoleDetectionAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
float	box_x
float	box_y_end
float	box_y_ini
float	box_z_end
float	box_z_ini
pcl::PointCloud< pcl::PointXYZ > ::Ptr	cloud_for
pcl::PointCloud< pcl::PointXYZRGB >	cloud_in
int	hole_min_p
float	Xc
float	Xl
float	Xr
float	Y

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 46 of file hole_detection_alg.h.

Member Typedef Documentation

typedef iri_hole_detection::HoleDetectionConfig HoleDetectionAlgorithm::Config

define config type

Define a Config type with the HoleDetectionConfig. All driver implementations will then use the same variable type Config.

Definition at line 69 of file hole_detection_alg.h.

Constructor & Destructor Documentation

HoleDetectionAlgorithm::HoleDetectionAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file hole_detection_alg.cpp.

HoleDetectionAlgorithm::~HoleDetectionAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 8 of file hole_detection_alg.cpp.

Member Function Documentation

void HoleDetectionAlgorithm::cloud_all	(	int	hole_min_p,
		float	box_y_end,
		float	box_z_ini,
		float	box_x,
		float	box_y_ini,
		float	box_z_end,
		float	Xl,
		float	Xc,
		float	Xr,
		float	Y,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud_in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud_out
	)

Definition at line 24 of file hole_detection_alg.cpp.

void HoleDetectionAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: