IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_face_tracking_alg_node.h>

Inheritance diagram for TibiDaboFaceTrackingAlgNode:

Public Member Functions
	TibiDaboFaceTrackingAlgNode (void)
	Constructor.
	~TibiDaboFaceTrackingAlgNode (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
void	face_detections_callback (const face_detector_mono::RectArray::ConstPtr &msg)
void	follow_targetActive ()
void	follow_targetDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void	follow_targetFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void	follow_targetMakeActionRequest ()
Private Attributes
CMutex	face_detections_mutex_
ros::Subscriber	face_detections_subscriber_
bool	first
double	focus_length_x
double	focus_length_y
actionlib::SimpleActionClient < iri_nav_msgs::followTargetAction >	follow_target_client_
iri_nav_msgs::followTargetGoal	follow_target_goal_
double	image_height
double	image_width
trajectory_msgs::JointTrajectoryPoint	JointTrajectoryPoint_msg_
ros::Publisher	target_joints_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file tibi_dabo_face_tracking_alg_node.h.

Constructor & Destructor Documentation

TibiDaboFaceTrackingAlgNode::TibiDaboFaceTrackingAlgNode ( void )

Constructor.

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

Definition at line 3 of file tibi_dabo_face_tracking_alg_node.cpp.

TibiDaboFaceTrackingAlgNode::~TibiDaboFaceTrackingAlgNode ( void )

Destructor.

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

Definition at line 40 of file tibi_dabo_face_tracking_alg_node.cpp.

Member Function Documentation

void TibiDaboFaceTrackingAlgNode::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< TibiDaboFaceTrackingAlgorithm >.

Definition at line 191 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::face_detections_callback ( const face_detector_mono::RectArray::ConstPtr & msg ) [private]

Definition at line 56 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::follow_targetActive ( ) [private]

Definition at line 143 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::follow_targetDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_nav_msgs::followTargetResultConstPtr &	result
	)		`[private]`

Definition at line 133 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::follow_targetFeedback ( const iri_nav_msgs::followTargetFeedbackConstPtr & feedback ) [private]

Definition at line 148 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::follow_targetMakeActionRequest ( ) [private]

Definition at line 166 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::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< TibiDaboFaceTrackingAlgorithm >.

Definition at line 45 of file tibi_dabo_face_tracking_alg_node.cpp.

void TibiDaboFaceTrackingAlgNode::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< TibiDaboFaceTrackingAlgorithm >.

Definition at line 184 of file tibi_dabo_face_tracking_alg_node.cpp.