IRI ROS Specific Driver Class. More...
#include <obstacle_detection_alg.h>
Public Types | |
typedef iri_obstacle_detection::ObstacleDetectionConfig | Config |
define config type | |
Public Member Functions | |
void | CloudConsensusSegmentation (const sensor_msgs::PointCloud2 &ros_cloud_in, sensor_msgs::PointCloud2 &ros_cloud_out) |
void | config_update (Config &new_cfg, uint32_t level=0) |
config update | |
sensor_msgs::PointCloud2 | getPCLfiltered () |
void | lock (void) |
Lock Algorithm. | |
ObstacleDetectionAlgorithm (void) | |
constructor | |
bool | try_enter (void) |
Tries Access to Algorithm. | |
void | unlock (void) |
Unlock Algorithm. | |
~ObstacleDetectionAlgorithm (void) | |
Destructor. | |
Public Attributes | |
Config | config_ |
config variable | |
sensor_msgs::PointCloud2 | pcl_camera |
Protected Attributes | |
CMutex | alg_mutex_ |
define config type |
IRI ROS Specific Driver Class.
Definition at line 44 of file obstacle_detection_alg.h.
typedef iri_obstacle_detection::ObstacleDetectionConfig ObstacleDetectionAlgorithm::Config |
define config type
Define a Config type with the ObstacleDetectionConfig. All driver implementations will then use the same variable type Config.
Definition at line 64 of file obstacle_detection_alg.h.
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 3 of file obstacle_detection_alg.cpp.
Destructor.
This destructor is called when the object is about to be destroyed.
Definition at line 7 of file obstacle_detection_alg.cpp.
void ObstacleDetectionAlgorithm::CloudConsensusSegmentation | ( | const sensor_msgs::PointCloud2 & | ros_cloud_in, |
sensor_msgs::PointCloud2 & | ros_cloud_out | ||
) |
Definition at line 22 of file obstacle_detection_alg.cpp.
void ObstacleDetectionAlgorithm::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.
new_cfg | the new driver configuration state |
level | level in which the update is taken place |
Definition at line 11 of file obstacle_detection_alg.cpp.
sensor_msgs::PointCloud2 ObstacleDetectionAlgorithm::getPCLfiltered | ( | ) |
Definition at line 34 of file obstacle_detection_alg.cpp.
void ObstacleDetectionAlgorithm::lock | ( | void | ) | [inline] |
Lock Algorithm.
Locks access to the Algorithm class
Definition at line 89 of file obstacle_detection_alg.h.
bool ObstacleDetectionAlgorithm::try_enter | ( | void | ) | [inline] |
Tries Access to Algorithm.
Tries access to Algorithm
Definition at line 105 of file obstacle_detection_alg.h.
void ObstacleDetectionAlgorithm::unlock | ( | void | ) | [inline] |
Unlock Algorithm.
Unlocks access to the Algorithm class
Definition at line 96 of file obstacle_detection_alg.h.
CMutex ObstacleDetectionAlgorithm::alg_mutex_ [protected] |
define config type
Define a Config type with the ObstacleDetectionConfig. All driver implementations will then use the same variable type Config.
Definition at line 53 of file obstacle_detection_alg.h.
config variable
This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.
Definition at line 72 of file obstacle_detection_alg.h.
sensor_msgs::PointCloud2 ObstacleDetectionAlgorithm::pcl_camera |
Definition at line 131 of file obstacle_detection_alg.h.