trajectory_to_markers_alg_node.cpp

Go to the documentation of this file.

#include "trajectory_to_markers_alg_node.h"

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

  // [init publishers]
  this->CovarianceMarkers_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("CovarianceMarkers", 1);
  this->ActualPoseMarker_publisher_ = this->public_node_handle_.advertise<visualization_msgs::Marker>("ActualPoseMarker", 1);
  
  // [init subscribers]
  this->trajectory_subscriber_ = this->public_node_handle_.subscribe("trajectory", 100, &TrajectoryToMarkersAlgNode::trajectory_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void TrajectoryToMarkersAlgNode::mainNodeThread(void)
{
  
  if (!initialized)
  {
    this->alg_.lock();
    alg_.initialize_markers();
    this->alg_.unlock();
    initialized = true;
  }
  // [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] */
void TrajectoryToMarkersAlgNode::trajectory_callback(const iri_nav_msgs::Trajectory::ConstPtr& msg) 
{ 
  //ROS_INFO("TrajectoryToMarkersAlgNode::trajectory_callback: New Message Received"); 
  //ROS_INFO_STREAM(*msg);
  
  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
    // draw covariances and if new trajectory, publish it
    if (alg_.drawCovariances(*msg))
      this->CovarianceMarkers_publisher_.publish(alg_.get_marker_array());
    
    // Publishing actual marker (changed for sure)
    this->ActualPoseMarker_publisher_.publish(alg_.get_actual_marker());
  //unlock previously blocked shared variables 
  this->alg_.unlock();
  
  //this->trajectory_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void TrajectoryToMarkersAlgNode::addNodeDiagnostics(void)
{
}

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