IRI ROS Specific Driver Class. More...

#include <zyonz_obtain_roi_jump_edge_based_alg.h>

Public Types
typedef zyonz_obtain_roi_jump_edge_based::ZyonzObtainRoiJumpEdgeBasedConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
sensor_msgs::Image::Ptr	get_roi_img (void)
pcl::PointCloud< pcl::PointXYZ > ::ConstPtr	get_roi_pc (void)
geometry_msgs::PoseStamped::Ptr	get_roi_pose (void)
geometry_msgs::PoseStamped::Ptr	get_viewpoint_pose (void)
bool	isRunning (sensor_msgs::PointCloud2::ConstPtr &point_cloud_ConstPtr, sensor_msgs::Image::ConstPtr &cluster_a_img_ConstPtr, sensor_msgs::Image::ConstPtr &cluster_b_img_ConstPtr, sensor_msgs::Image::ConstPtr &residual_img_ConstPtr)
void	lock (void)
	Lock Algorithm.
bool	principal_component_analysis (pcl::PointCloud< pcl::PointXYZ >::ConstPtr point_cloud, Eigen::Vector4f &centroid, Eigen::Quaternionf &orientation)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	ZyonzObtainRoiJumpEdgeBasedAlgorithm (void)
	constructor
	~ZyonzObtainRoiJumpEdgeBasedAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
sensor_msgs::Image::Ptr	roi_img_ptr_
pcl::PointCloud< pcl::PointXYZ >	roi_pc_
geometry_msgs::PoseStamped::Ptr	roi_pose_ptr_
geometry_msgs::PoseStamped::Ptr	viewpoint_pose_ptr_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 48 of file zyonz_obtain_roi_jump_edge_based_alg.h.

Member Typedef Documentation

typedef zyonz_obtain_roi_jump_edge_based::ZyonzObtainRoiJumpEdgeBasedConfig ZyonzObtainRoiJumpEdgeBasedAlgorithm::Config

define config type

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

Definition at line 74 of file zyonz_obtain_roi_jump_edge_based_alg.h.

Constructor & Destructor Documentation

ZyonzObtainRoiJumpEdgeBasedAlgorithm::ZyonzObtainRoiJumpEdgeBasedAlgorithm ( 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 zyonz_obtain_roi_jump_edge_based_alg.cpp.

ZyonzObtainRoiJumpEdgeBasedAlgorithm::~ZyonzObtainRoiJumpEdgeBasedAlgorithm ( void )

Destructor.

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

Definition at line 9 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

Member Function Documentation

void ZyonzObtainRoiJumpEdgeBasedAlgorithm::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 13 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

sensor_msgs::Image::Ptr ZyonzObtainRoiJumpEdgeBasedAlgorithm::get_roi_img ( void )

Definition at line 168 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

pcl::PointCloud< pcl::PointXYZ >::ConstPtr ZyonzObtainRoiJumpEdgeBasedAlgorithm::get_roi_pc ( void )

Definition at line 163 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

geometry_msgs::PoseStamped::Ptr ZyonzObtainRoiJumpEdgeBasedAlgorithm::get_roi_pose ( void )

Definition at line 173 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

geometry_msgs::PoseStamped::Ptr ZyonzObtainRoiJumpEdgeBasedAlgorithm::get_viewpoint_pose ( void )

Definition at line 178 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

bool ZyonzObtainRoiJumpEdgeBasedAlgorithm::isRunning	(	sensor_msgs::PointCloud2::ConstPtr &	point_cloud_ConstPtr,
		sensor_msgs::Image::ConstPtr &	cluster_a_img_ConstPtr,
		sensor_msgs::Image::ConstPtr &	cluster_b_img_ConstPtr,
		sensor_msgs::Image::ConstPtr &	residual_img_ConstPtr
	)

Definition at line 69 of file zyonz_obtain_roi_jump_edge_based_alg.cpp.

void ZyonzObtainRoiJumpEdgeBasedAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 99 of file zyonz_obtain_roi_jump_edge_based_alg.h.

bool ZyonzObtainRoiJumpEdgeBasedAlgorithm::principal_component_analysis	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	point_cloud,
		Eigen::Vector4f &	centroid,
		Eigen::Quaternionf &	orientation
	)