IRI ROS Specific Algorithm Class. More...

#include <laser_people_detection_alg_node.h>

Inheritance diagram for LaserPeopleDetectionAlgNode:

Public Member Functions
	LaserPeopleDetectionAlgNode (void)
	Constructor.
	~LaserPeopleDetectionAlgNode (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	filterPoses (iri_perception_msgs::detectionArray &peoplePoses)
void	getPeopleMarkers (iri_perception_msgs::detectionArray &peopleList, visualization_msgs::MarkerArray &people)
void	init ()
void	scan_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	transformPoses (iri_perception_msgs::detectionArray &peoplePoses)
Private Attributes
sensor_msgs::LaserScan	currentScan
iri_perception_msgs::detectionArray	detectionArray_msg_
double	detectionThreshold
CEventServer *	event_server_
bool	filterPosesMode
double	filterR
double	filterX
double	filterY
double	markerA
visualization_msgs::MarkerArray	MarkerArray_msg_
double	markerB
double	markerG
double	markerHeight
double	markerR
double	markerWidth
std::string	new_laser_event_id_
ros::Publisher	people_publisher_
ros::Publisher	peopleMarkers_array_publisher_
double	rangeThreshold
CMutex	scan_mutex_
ros::Subscriber	scan_subscriber_
std::string	scanFrame
bool	selectPosesFrame
bool	selectScanFrame
std::string	target_frame
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file laser_people_detection_alg_node.h.

Constructor & Destructor Documentation

LaserPeopleDetectionAlgNode::LaserPeopleDetectionAlgNode ( void )

Constructor.

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

Definition at line 3 of file laser_people_detection_alg_node.cpp.

LaserPeopleDetectionAlgNode::~LaserPeopleDetectionAlgNode ( void )

Destructor.

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

Definition at line 30 of file laser_people_detection_alg_node.cpp.

Member Function Documentation

void LaserPeopleDetectionAlgNode::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< LaserPeopleDetectionAlgorithm >.

Definition at line 250 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::filterPoses ( iri_perception_msgs::detectionArray & peoplePoses ) [private]

Definition at line 163 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::getPeopleMarkers	(	iri_perception_msgs::detectionArray &	peopleList,
		visualization_msgs::MarkerArray &	people
	)		`[private]`

Definition at line 185 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::init ( ) [private]

Definition at line 35 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::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< LaserPeopleDetectionAlgorithm >.

Definition at line 59 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::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< LaserPeopleDetectionAlgorithm >.

Definition at line 228 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::scan_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 96 of file laser_people_detection_alg_node.cpp.

void LaserPeopleDetectionAlgNode::transformPoses ( iri_perception_msgs::detectionArray & peoplePoses ) [private]

Definition at line 123 of file laser_people_detection_alg_node.cpp.