IRI ROS Specific Algorithm Class. More...

#include <bitwise_and_alg_node.h>

Inheritance diagram for BitwiseAndAlgNode:

Public Member Functions
	BitwiseAndAlgNode (void)
	Constructor.
	~BitwiseAndAlgNode (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
sensor_msgs::ImagePtr	cvimage_to_rosimage (cv::Mat cvimage)
void	image_in1_callback (const sensor_msgs::Image::ConstPtr &msg)
void	image_in2_callback (const sensor_msgs::Image::ConstPtr &msg)
void	publish_bitwise_and_last_images ()
	Pixelwise add last two images.
Private Attributes
bool	has_image1_
bool	has_image2_
CMutex	image_in1_mutex_
ros::Subscriber	image_in1_subscriber_
CMutex	image_in2_mutex_
ros::Subscriber	image_in2_subscriber_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_
cv::Mat	last_image1_
cv::Mat	last_image2_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file bitwise_and_alg_node.h.

Constructor & Destructor Documentation

BitwiseAndAlgNode::BitwiseAndAlgNode ( void )

Constructor.

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

Definition at line 6 of file bitwise_and_alg_node.cpp.

BitwiseAndAlgNode::~BitwiseAndAlgNode ( void )

Destructor.

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

Definition at line 31 of file bitwise_and_alg_node.cpp.

Member Function Documentation

void BitwiseAndAlgNode::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< BitwiseAndAlgorithm >.

Definition at line 119 of file bitwise_and_alg_node.cpp.

sensor_msgs::ImagePtr BitwiseAndAlgNode::cvimage_to_rosimage ( cv::Mat cvimage ) [private]

Definition at line 123 of file bitwise_and_alg_node.cpp.

void BitwiseAndAlgNode::image_in1_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 50 of file bitwise_and_alg_node.cpp.

void BitwiseAndAlgNode::image_in2_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 68 of file bitwise_and_alg_node.cpp.

void BitwiseAndAlgNode::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< BitwiseAndAlgorithm >.

Definition at line 36 of file bitwise_and_alg_node.cpp.

void BitwiseAndAlgNode::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< BitwiseAndAlgorithm >.

Definition at line 109 of file bitwise_and_alg_node.cpp.

void BitwiseAndAlgNode::publish_bitwise_and_last_images ( ) [private]

Pixelwise add last two images.

Pixelwise and last two images

Definition at line 93 of file bitwise_and_alg_node.cpp.