ZyonzGeometricBasedSingleLeafProbingAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <zyonz_geometric_based_single_leaf_probing_alg.h>

List of all members.

Public Types
typedef zyonz_geometric_based_single_leaf_probing::ZyonzGeometricBasedSingleLeafProbingConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
bool	get_leaf_probing_point (const sensor_msgs::PointCloud2::ConstPtr &msg)
Eigen::Vector4f	getLeafCentroid ()
Eigen::Quaternionf	getLeafPose ()
visualization_msgs::Marker	getMarker ()
zyonz_msgs::ProbingSteps	getProbingSteps ()
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	ZyonzGeometricBasedSingleLeafProbingAlgorithm (void)
	constructor
	~ZyonzGeometricBasedSingleLeafProbingAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Eigen::Vector4f	leaf_centroid_
Eigen::Quaternionf	leaf_pose_
visualization_msgs::Marker	Marker_msg_
zyonz_msgs::ProbingSteps	probing_step_
tf::TransformListener	tf_listener_

---

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 43 of file zyonz_geometric_based_single_leaf_probing_alg.h.

---

Member Typedef Documentation

typedef zyonz_geometric_based_single_leaf_probing::ZyonzGeometricBasedSingleLeafProbingConfig ZyonzGeometricBasedSingleLeafProbingAlgorithm::Config

define config type

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

Definition at line 67 of file zyonz_geometric_based_single_leaf_probing_alg.h.

---

Constructor & Destructor Documentation

ZyonzGeometricBasedSingleLeafProbingAlgorithm::ZyonzGeometricBasedSingleLeafProbingAlgorithm

(

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 24 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

ZyonzGeometricBasedSingleLeafProbingAlgorithm::~ZyonzGeometricBasedSingleLeafProbingAlgorithm

(

void

)

Destructor.

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

Definition at line 28 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

---

Member Function Documentation

void ZyonzGeometricBasedSingleLeafProbingAlgorithm::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 32 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

bool ZyonzGeometricBasedSingleLeafProbingAlgorithm::get_leaf_probing_point

(

const sensor_msgs::PointCloud2::ConstPtr &

msg

)

Definition at line 44 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

Eigen::Vector4f ZyonzGeometricBasedSingleLeafProbingAlgorithm::getLeafCentroid

(

)

Definition at line 211 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

Eigen::Quaternionf ZyonzGeometricBasedSingleLeafProbingAlgorithm::getLeafPose

(

)

Definition at line 215 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

visualization_msgs::Marker ZyonzGeometricBasedSingleLeafProbingAlgorithm::getMarker

(

)

Definition at line 207 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

zyonz_msgs::ProbingSteps ZyonzGeometricBasedSingleLeafProbingAlgorithm::getProbingSteps

(

)

Definition at line 219 of file zyonz_geometric_based_single_leaf_probing_alg.cpp.

void ZyonzGeometricBasedSingleLeafProbingAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 92 of file zyonz_geometric_based_single_leaf_probing_alg.h.

bool ZyonzGeometricBasedSingleLeafProbingAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 108 of file zyonz_geometric_based_single_leaf_probing_alg.h.

void ZyonzGeometricBasedSingleLeafProbingAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 99 of file zyonz_geometric_based_single_leaf_probing_alg.h.

---

Member Data Documentation

CMutex ZyonzGeometricBasedSingleLeafProbingAlgorithm::alg_mutex_ [protected]

define config type

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

Definition at line 52 of file zyonz_geometric_based_single_leaf_probing_alg.h.

Config ZyonzGeometricBasedSingleLeafProbingAlgorithm::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 75 of file zyonz_geometric_based_single_leaf_probing_alg.h.

Eigen::Vector4f ZyonzGeometricBasedSingleLeafProbingAlgorithm::leaf_centroid_ [protected]

Definition at line 56 of file zyonz_geometric_based_single_leaf_probing_alg.h.

Eigen::Quaternionf ZyonzGeometricBasedSingleLeafProbingAlgorithm::leaf_pose_ [protected]

Definition at line 57 of file zyonz_geometric_based_single_leaf_probing_alg.h.

visualization_msgs::Marker ZyonzGeometricBasedSingleLeafProbingAlgorithm::Marker_msg_ [protected]

Definition at line 55 of file zyonz_geometric_based_single_leaf_probing_alg.h.

zyonz_msgs::ProbingSteps ZyonzGeometricBasedSingleLeafProbingAlgorithm::probing_step_ [protected]

Definition at line 58 of file zyonz_geometric_based_single_leaf_probing_alg.h.

tf::TransformListener ZyonzGeometricBasedSingleLeafProbingAlgorithm::tf_listener_ [protected]

Definition at line 59 of file zyonz_geometric_based_single_leaf_probing_alg.h.

---

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

• zyonz_geometric_based_single_leaf_probing_alg.h
• zyonz_geometric_based_single_leaf_probing_alg.cpp