IRI ROS Specific Algorithm Class. More...

#include <image_reader_alg_node.h>

Inheritance diagram for ImageReaderAlgNode:

Public Member Functions
	ImageReaderAlgNode (void)
	Constructor.
	~ImageReaderAlgNode (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	init_sensor_info ()
void	update_msgs ()
Private Attributes
std::vector< std::vector < cv::Rect > >	box_detections
image_geometry::PinholeCameraModel	cam_model_
sensor_msgs::CameraInfo	CameraInfo_msg_
ros::Publisher	goal_publisher_
std_msgs::Header	header_
unsigned int	iit_database
image_transport::CameraPublisher	image_pub_
cv_bridge::CvImage	img_msg_
image_transport::ImageTransport	it_
sensor_msgs::LaserScan	LaserScan_msg_
sensor_msgs::LaserScan	LaserScan_proc_msg_
int	list_pointer
std::string	path
geometry_msgs::PoseArray	PoseArray_msg_
ros::Publisher	scan_proc_publisher_
ros::Publisher	scan_publisher_
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file image_reader_alg_node.h.

Constructor & Destructor Documentation

ImageReaderAlgNode::ImageReaderAlgNode ( void )

Constructor.

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

Definition at line 3 of file image_reader_alg_node.cpp.

ImageReaderAlgNode::~ImageReaderAlgNode ( void )

Destructor.

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

Definition at line 27 of file image_reader_alg_node.cpp.

Member Function Documentation

void ImageReaderAlgNode::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< ImageReaderAlgorithm >.

Definition at line 140 of file image_reader_alg_node.cpp.

void ImageReaderAlgNode::init_sensor_info ( ) [private]

Definition at line 49 of file image_reader_alg_node.cpp.

void ImageReaderAlgNode::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< ImageReaderAlgorithm >.

Definition at line 32 of file image_reader_alg_node.cpp.

void ImageReaderAlgNode::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< ImageReaderAlgorithm >.

Definition at line 129 of file image_reader_alg_node.cpp.

void ImageReaderAlgNode::update_msgs ( ) [private]

Definition at line 88 of file image_reader_alg_node.cpp.