pointcloud_to_eigenvectors_alg_node.cpp

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#include "pointcloud_to_eigenvectors_alg_node.h"
#include <tf/transform_broadcaster.h>

PointcloudToEigenvectorsAlgNode::PointcloudToEigenvectorsAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<PointcloudToEigenvectorsAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->getEigenVectors_server_ = this->public_node_handle_.advertiseService("getEigenVectors", &PointcloudToEigenvectorsAlgNode::getEigenVectorsCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

PointcloudToEigenvectorsAlgNode::~PointcloudToEigenvectorsAlgNode(void)
{
  // [free dynamic memory]
}

void PointcloudToEigenvectorsAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool PointcloudToEigenvectorsAlgNode::getEigenVectorsCallback(iri_perception_msgs::PclToMarker::Request &req, iri_perception_msgs::PclToMarker::Response &res) 
{ 
  ROS_INFO("PointcloudToEigenvectorsAlgNode::getEigenVectorsCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
  //this->getEigenVectors_mutex_.enter(); 

  sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr;
  point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.pointcloud);

  if(!alg_.get_eigenvectors(point_cloud_ConstPtr)) 
  {
    ROS_INFO("PointcloudToPlaneAlgNode::getPlaneCallback: ERROR: alg is not on run mode yet.");
  }
    
  res.marker = alg_.getMarker();
  
  static tf::TransformBroadcaster br;
  tf::Transform transform;
  transform.setOrigin( tf::Vector3(alg_.getPlaneCentroid().x(), alg_.getPlaneCentroid().y(), alg_.getPlaneCentroid().z()) );
  transform.setRotation( tf::Quaternion(alg_.getPlanePose().x(), alg_.getPlanePose().y(), alg_.getPlanePose().z(),alg_.getPlanePose().w()) );
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), req.pointcloud.header.frame_id, "centroid"));

  //unlock previously blocked shared variables 
  this->alg_.unlock(); 
  //this->getEigenVectors_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

void PointcloudToEigenvectorsAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void PointcloudToEigenvectorsAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<PointcloudToEigenvectorsAlgNode>(argc, argv, "pointcloud_to_eigenvectors_alg_node");
}