IRI ROS Specific Algorithm Class. More...

#include <people_simulation_alg_node.h>

Inheritance diagram for PeopleSimulationAlgNode:

Public Member Functions
	PeopleSimulationAlgNode (void)
	Constructor.
	~PeopleSimulationAlgNode (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 Types
enum	simulation_mode { Normal = 0, Density_incremental }
Private Member Functions
void	init_sim ()
bool	resetCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	robot_pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
std::string	destination_map_path_
std::string	force_map_path_
visualization_msgs::Marker	id_marker_
visualization_msgs::MarkerArray	MarkerArray_msg_
int	n_persons_
iri_perception_msgs::peopleTrackingArray	peopleTrackingArray_msg_
bool	remove_targets_
CMutex	reset_mutex_
ros::ServiceServer	reset_server_
CMutex	robot_pose_mutex_
ros::Subscriber	robot_pose_subscriber_
Cscene_sim	scene_
simulation_mode	simulation_mode_
visualization_msgs::Marker	track_marker_
ros::Publisher	tracks_publisher_
ros::Publisher	tracksMarkers_publisher_
bool	vis_mode_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file people_simulation_alg_node.h.

Member Enumeration Documentation

enum PeopleSimulationAlgNode::simulation_mode [private]

Enumerator:

Normal
Density_incremental

Definition at line 48 of file people_simulation_alg_node.h.

Constructor & Destructor Documentation

PeopleSimulationAlgNode::PeopleSimulationAlgNode ( void )

Constructor.

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

Definition at line 3 of file people_simulation_alg_node.cpp.

PeopleSimulationAlgNode::~PeopleSimulationAlgNode ( void )

Destructor.

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

Definition at line 36 of file people_simulation_alg_node.cpp.

Member Function Documentation

void PeopleSimulationAlgNode::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< PeopleSimulationAlgorithm >.

Definition at line 224 of file people_simulation_alg_node.cpp.

void PeopleSimulationAlgNode::init_sim ( ) [private]

Definition at line 41 of file people_simulation_alg_node.cpp.

void PeopleSimulationAlgNode::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< PeopleSimulationAlgorithm >.

Definition at line 97 of file people_simulation_alg_node.cpp.

void PeopleSimulationAlgNode::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< PeopleSimulationAlgorithm >.

Definition at line 210 of file people_simulation_alg_node.cpp.