00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _people_tracking_mht_alg_node_h_ 00026 #define _people_tracking_mht_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "people_tracking_mht_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <visualization_msgs/MarkerArray.h> 00033 #include <iri_perception_msgs/detectionArray.h> 00034 00035 // [service client headers] 00036 00037 // [action server client headers] 00038 00043 class PeopleTrackingMhtAlgNode : public algorithm_base::IriBaseAlgorithm<PeopleTrackingMhtAlgorithm> 00044 { 00045 private: 00046 // [publisher attributes] 00047 ros::Publisher tracksMarkers_publisher_; 00048 visualization_msgs::MarkerArray MarkerArray_msg_; 00049 ros::Publisher tracks_publisher_; 00050 iri_perception_msgs::detectionArray detectionArray_msg_; 00051 00052 // [subscriber attributes] 00053 ros::Subscriber detections_subscriber_; 00054 void detections_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg); 00055 CMutex detections_mutex_; 00056 00057 // [service attributes] 00058 00059 // [client attributes] 00060 00061 // [action server attributes] 00062 00063 // [action client attributes] 00064 00065 std::vector<Sdetection> detections; 00066 std::vector<Strack> tracks; 00067 bool detectionsReceived; 00068 00069 void fillTracksMsg(); 00070 void publishMarkers(); 00071 00072 public: 00079 PeopleTrackingMhtAlgNode(void); 00080 00087 ~PeopleTrackingMhtAlgNode(void); 00088 00089 protected: 00102 void mainNodeThread(void); 00103 00116 void node_config_update(Config &config, uint32_t level); 00117 00124 void addNodeDiagnostics(void); 00125 00126 // [diagnostic functions] 00127 00128 // [test functions] 00129 }; 00130 00131 #endif