IRI ROS Specific Algorithm Class. More...

#include <zyonz_image_based_leaf_probing_alg_node.h>

Inheritance diagram for ZyonzImageBasedLeafProbingAlgNode:

Public Member Functions
	ZyonzImageBasedLeafProbingAlgNode (void)
	Constructor.
	~ZyonzImageBasedLeafProbingAlgNode (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	leaf_probing_srvCallback (zyonz_msgs::GetProbingSteps::Request &req, zyonz_msgs::GetProbingSteps::Response &res)
Private Attributes
cv_bridge::CvImagePtr	cv_ptr_
ros::Publisher	leaf_confidence_image_publisher_
CMutex	leaf_probing_srv_mutex_
ros::ServiceServer	leaf_probing_srv_server_
ros::Publisher	seg_image_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file zyonz_image_based_leaf_probing_alg_node.h.

Constructor & Destructor Documentation

ZyonzImageBasedLeafProbingAlgNode::ZyonzImageBasedLeafProbingAlgNode ( void )

Constructor.

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

Definition at line 6 of file zyonz_image_based_leaf_probing_alg_node.cpp.

ZyonzImageBasedLeafProbingAlgNode::~ZyonzImageBasedLeafProbingAlgNode ( void )

Destructor.

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

Definition at line 28 of file zyonz_image_based_leaf_probing_alg_node.cpp.

Member Function Documentation

void ZyonzImageBasedLeafProbingAlgNode::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< ZyonzImageBasedLeafProbingAlgorithm >.

Definition at line 91 of file zyonz_image_based_leaf_probing_alg_node.cpp.

bool ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback	(	zyonz_msgs::GetProbingSteps::Request &	req,
		zyonz_msgs::GetProbingSteps::Response &	res
	)		`[private]`

Definition at line 50 of file zyonz_image_based_leaf_probing_alg_node.cpp.

void ZyonzImageBasedLeafProbingAlgNode::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< ZyonzImageBasedLeafProbingAlgorithm >.

Definition at line 33 of file zyonz_image_based_leaf_probing_alg_node.cpp.

void ZyonzImageBasedLeafProbingAlgNode::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< ZyonzImageBasedLeafProbingAlgorithm >.

Definition at line 84 of file zyonz_image_based_leaf_probing_alg_node.cpp.