IRI ROS Specific Driver Class. More...

#include <trajectory_to_markers_alg.h>

Public Types
typedef iri_trajectory_to_markers::TrajectoryToMarkersConfig	Config
	define config type
Public Member Functions
void	change_actual_marker (const Eigen::Matrix2f &covs, const float &theta_cov, const geometry_msgs::Point &position, const bool &loopClosure)
	change actual marker
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
visualization_msgs::Marker	create_loop_marker (const uint &id, const std_msgs::Header &header, const geometry_msgs::Point &position1, const geometry_msgs::Point &position2) const
	create loop marker
visualization_msgs::Marker	create_marker (const uint &id, const std_msgs::Header &header, const Eigen::Matrix2f &covs, const float &theta_cov, const geometry_msgs::Point &position, const bool &loopClosure) const
	create marker
bool	drawCovariances (const iri_nav_msgs::Trajectory &msg)
	fill marker array message
visualization_msgs::Marker	get_actual_marker () const
	get actual marker
Eigen::Matrix2f	get_ith_cov (const iri_nav_msgs::Trajectory &msg, const uint i) const
	get ith cov
float	get_ith_theta_cov (const iri_nav_msgs::Trajectory &msg, const uint i) const
	get ith theta cov
visualization_msgs::MarkerArray	get_marker_array () const
	get marker array
void	initialize_markers ()
	initialize line markers
void	lock (void)
	Lock Algorithm.
	TrajectoryToMarkersAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~TrajectoryToMarkersAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
visualization_msgs::Marker	actual_marker_
std::vector< bool >	loop_state_
visualization_msgs::Marker	loops_marker_
visualization_msgs::MarkerArray	marker_array_
uint	nLoops_
visualization_msgs::Marker	trajectory_marker_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 44 of file trajectory_to_markers_alg.h.

Member Typedef Documentation

typedef iri_trajectory_to_markers::TrajectoryToMarkersConfig TrajectoryToMarkersAlgorithm::Config

define config type

Define a Config type with the TrajectoryToMarkersConfig. All driver implementations will then use the same variable type Config.

Definition at line 70 of file trajectory_to_markers_alg.h.

Constructor & Destructor Documentation

TrajectoryToMarkersAlgorithm::TrajectoryToMarkersAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file trajectory_to_markers_alg.cpp.

TrajectoryToMarkersAlgorithm::~TrajectoryToMarkersAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 8 of file trajectory_to_markers_alg.cpp.

Member Function Documentation

void TrajectoryToMarkersAlgorithm::change_actual_marker	(	const Eigen::Matrix2f &	covs,
		const float &	theta_cov,
		const geometry_msgs::Point &	position,
		const bool &	loopClosure
	)

change actual marker

Definition at line 242 of file trajectory_to_markers_alg.cpp.

void TrajectoryToMarkersAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 12 of file trajectory_to_markers_alg.cpp.

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::create_loop_marker	(	const uint &	id,
		const std_msgs::Header &	header,
		const geometry_msgs::Point &	position1,
		const geometry_msgs::Point &	position2
	)		const

create loop marker

Definition at line 285 of file trajectory_to_markers_alg.cpp.

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::create_marker	(	const uint &	id,
		const std_msgs::Header &	header,
		const Eigen::Matrix2f &	covs,
		const float &	theta_cov,
		const geometry_msgs::Point &	position,
		const bool &	loopClosure
	)		const

create marker

Definition at line 189 of file trajectory_to_markers_alg.cpp.

bool TrajectoryToMarkersAlgorithm::drawCovariances ( const iri_nav_msgs::Trajectory & msg )

fill marker array message

Definition at line 72 of file trajectory_to_markers_alg.cpp.

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::get_actual_marker ( ) const

get actual marker

Definition at line 184 of file trajectory_to_markers_alg.cpp.

Eigen::Matrix2f TrajectoryToMarkersAlgorithm::get_ith_cov	(	const iri_nav_msgs::Trajectory &	msg,
		const uint	i
	)		const

get ith cov

Definition at line 311 of file trajectory_to_markers_alg.cpp.

float TrajectoryToMarkersAlgorithm::get_ith_theta_cov	(	const iri_nav_msgs::Trajectory &	msg,
		const uint	i
	)		const

get ith theta cov

Definition at line 323 of file trajectory_to_markers_alg.cpp.

visualization_msgs::MarkerArray TrajectoryToMarkersAlgorithm::get_marker_array ( ) const

get marker array

Definition at line 174 of file trajectory_to_markers_alg.cpp.

void TrajectoryToMarkersAlgorithm::initialize_markers ( )

initialize line markers

Definition at line 22 of file trajectory_to_markers_alg.cpp.

void TrajectoryToMarkersAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 95 of file trajectory_to_markers_alg.h.

bool TrajectoryToMarkersAlgorithm::try_enter ( void ) [inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:: true if the lock was adquired, false otherwise

Definition at line 111 of file trajectory_to_markers_alg.h.

void TrajectoryToMarkersAlgorithm::unlock ( void ) [inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 102 of file trajectory_to_markers_alg.h.

Member Data Documentation

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::actual_marker_ [private]

Definition at line 59 of file trajectory_to_markers_alg.h.

CMutex TrajectoryToMarkersAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the TrajectoryToMarkersConfig. All driver implementations will then use the same variable type Config.

Definition at line 53 of file trajectory_to_markers_alg.h.

Config TrajectoryToMarkersAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 78 of file trajectory_to_markers_alg.h.

std::vector<bool> TrajectoryToMarkersAlgorithm::loop_state_ [private]

Definition at line 60 of file trajectory_to_markers_alg.h.

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::loops_marker_ [private]

Definition at line 57 of file trajectory_to_markers_alg.h.

visualization_msgs::MarkerArray TrajectoryToMarkersAlgorithm::marker_array_ [private]

Definition at line 56 of file trajectory_to_markers_alg.h.

uint TrajectoryToMarkersAlgorithm::nLoops_ [private]

Definition at line 61 of file trajectory_to_markers_alg.h.

visualization_msgs::Marker TrajectoryToMarkersAlgorithm::trajectory_marker_ [private]

Definition at line 58 of file trajectory_to_markers_alg.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation