IRI ROS Specific Algorithm Class. More...

#include <darwin_find_eggs_alg_node.h>

Inheritance diagram for DarwinFindEggsAlgNode:

Public Member Functions
	DarwinFindEggsAlgNode (void)
	Constructor.
	~DarwinFindEggsAlgNode (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	input_pcl2_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
cv::Mat	pointcloud_to_image (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
Private Attributes
CMutex	input_pcl2_mutex_
ros::Subscriber	input_pcl2_subscriber_
ros::Publisher	output_pcl2_publisher_
sensor_msgs::PointCloud2	PointCloud2_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 59 of file darwin_find_eggs_alg_node.h.

Constructor & Destructor Documentation

DarwinFindEggsAlgNode::DarwinFindEggsAlgNode ( void )

Constructor.

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

Definition at line 5 of file darwin_find_eggs_alg_node.cpp.

DarwinFindEggsAlgNode::~DarwinFindEggsAlgNode ( void )

Destructor.

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

Definition at line 26 of file darwin_find_eggs_alg_node.cpp.

Member Function Documentation

void DarwinFindEggsAlgNode::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< DarwinFindEggsAlgorithm >.

Definition at line 205 of file darwin_find_eggs_alg_node.cpp.

void DarwinFindEggsAlgNode::input_pcl2_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 45 of file darwin_find_eggs_alg_node.cpp.

void DarwinFindEggsAlgNode::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< DarwinFindEggsAlgorithm >.

Definition at line 31 of file darwin_find_eggs_alg_node.cpp.

void DarwinFindEggsAlgNode::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< DarwinFindEggsAlgorithm >.

Definition at line 198 of file darwin_find_eggs_alg_node.cpp.

cv::Mat DarwinFindEggsAlgNode::pointcloud_to_image ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud ) [private]

Definition at line 164 of file darwin_find_eggs_alg_node.cpp.