IRI ROS Specific Driver Class. More...

#include <zyonz_obtain_two_clustered_leaves_alg.h>

Public Types
typedef zyonz_obtain_two_clustered_leaves::ZyonzObtainTwoClusteredLeavesConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
bool	extract_clusters (sensor_msgs::PointCloud2::ConstPtr &msg)
	extract clusters
pcl::PointCloud < pcl::PointXYZRGB >::ConstPtr	get_cluster_a (void)
sensor_msgs::Image *	get_cluster_a_img (void)
pcl::PointCloud < pcl::PointXYZRGB >::ConstPtr	get_cluster_b (void)
sensor_msgs::Image *	get_cluster_b_img (void)
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	ZyonzObtainTwoClusteredLeavesAlgorithm (void)
	constructor
	~ZyonzObtainTwoClusteredLeavesAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
pcl::PointCloud< pcl::PointXYZRGB >	cluster_a_
sensor_msgs::Image	cluster_a_img_
pcl::PointCloud< pcl::PointXYZRGB >	cluster_b_
sensor_msgs::Image	cluster_b_img_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 40 of file zyonz_obtain_two_clustered_leaves_alg.h.

Member Typedef Documentation

typedef zyonz_obtain_two_clustered_leaves::ZyonzObtainTwoClusteredLeavesConfig ZyonzObtainTwoClusteredLeavesAlgorithm::Config

define config type

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

Definition at line 67 of file zyonz_obtain_two_clustered_leaves_alg.h.

Constructor & Destructor Documentation

ZyonzObtainTwoClusteredLeavesAlgorithm::ZyonzObtainTwoClusteredLeavesAlgorithm ( 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 5 of file zyonz_obtain_two_clustered_leaves_alg.cpp.

ZyonzObtainTwoClusteredLeavesAlgorithm::~ZyonzObtainTwoClusteredLeavesAlgorithm ( void )

Destructor.

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

Definition at line 9 of file zyonz_obtain_two_clustered_leaves_alg.cpp.

Member Function Documentation

void ZyonzObtainTwoClusteredLeavesAlgorithm::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: