IRI ROS Specific Algorithm Class. More...

#include <sift_alg_node.h>

Inheritance diagram for SiftAlgNode:

Public Member Functions
	SiftAlgNode (void)
	Constructor.
	~SiftAlgNode (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
bool	descriptors_from_imageCallback (iri_sift::DescriptorsFromImage::Request &req, iri_sift::DescriptorsFromImage::Response &res)
bool	get_geo_vw_setCallback (iri_sift::GeoVwSetSrv::Request &req, iri_sift::GeoVwSetSrv::Response &res)
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
bool	set_sift_centroidsCallback (iri_publish_params::classifier_update_service::Request &req, iri_publish_params::classifier_update_service::Response &res)
Private Attributes
CMutex	descriptors_from_image_mutex_
ros::ServiceServer	descriptors_from_image_server_
ros::Publisher	geo_vw_set_publisher_
iri_perception_msgs::GeoVwSet	GeoVwSet_msg_
CMutex	get_geo_vw_set_mutex_
ros::ServiceServer	get_geo_vw_set_server_
CMutex	image_in_mutex_
ros::Subscriber	image_in_subscriber_
CMutex	set_sift_centroids_mutex_
ros::ServiceServer	set_sift_centroids_server_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file sift_alg_node.h.

Constructor & Destructor Documentation

SiftAlgNode::SiftAlgNode ( void )

Constructor.

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

Definition at line 3 of file sift_alg_node.cpp.

SiftAlgNode::~SiftAlgNode ( void )

Destructor.

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

Definition at line 27 of file sift_alg_node.cpp.

Member Function Documentation

void SiftAlgNode::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< SiftAlgorithm >.

Definition at line 170 of file sift_alg_node.cpp.

bool SiftAlgNode::descriptors_from_imageCallback	(	iri_sift::DescriptorsFromImage::Request &	req,
		iri_sift::DescriptorsFromImage::Response &	res
	)		`[private]`

Definition at line 81 of file sift_alg_node.cpp.

bool SiftAlgNode::get_geo_vw_setCallback	(	iri_sift::GeoVwSetSrv::Request &	req,
		iri_sift::GeoVwSetSrv::Response &	res
	)		`[private]`

Definition at line 133 of file sift_alg_node.cpp.

void SiftAlgNode::image_in_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 46 of file sift_alg_node.cpp.

void SiftAlgNode::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< SiftAlgorithm >.

Definition at line 32 of file sift_alg_node.cpp.

void SiftAlgNode::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< SiftAlgorithm >.

Definition at line 163 of file sift_alg_node.cpp.

bool SiftAlgNode::set_sift_centroidsCallback	(	iri_publish_params::classifier_update_service::Request &	req,
		iri_publish_params::classifier_update_service::Response &	res
	)		`[private]`