IRI ROS Specific Algorithm Class. More...

#include <artag_image_based_vs_alg_node.h>

Inheritance diagram for ArtagImageBasedVsAlgNode:

Public Member Functions
	ArtagImageBasedVsAlgNode (void)
	Constructor.
	ArtagImageBasedVsAlgNode (void)
	Constructor.
	~ArtagImageBasedVsAlgNode (void)
	Destructor.
	~ArtagImageBasedVsAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeDiagnostics (void)
	node add diagnostics
void	fill_msg (std_msgs::Float64MultiArray &msg, const Eigen::MatrixXd &data)
	Fill message.
void	get_marker_info (const ar_pose::ARMarkers::ConstPtr &msg)
	Get marker info.
void	mainNodeThread (void)
	main node thread
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	virtual_features ()
	Virtual features.
Private Member Functions
void	input_ARtag_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void	marker_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void	odom_callback (const nav_msgs::Odometry::ConstPtr &msg)
Private Attributes
Eigen::MatrixXd	alfas_
std_msgs::Float64MultiArray	alfas_msg_
ros::Publisher	alfas_publisher_
ArtagImageBasedVsAlgorithm	artag_image_based_vs_alg_
Eigen::MatrixXd	cam_vel_
Eigen::MatrixXd	cj_0_
std_msgs::Float64MultiArray	cj_0_msg_
ros::Publisher	cj_0_publisher_
ros::Publisher	cmd_vel_cov_publisher_
Eigen::MatrixXd	cP_
std_msgs::Float64MultiArray	cP_msg_
ros::Publisher	cP_publisher_
Eigen::Matrix4d	cTo_
Eigen::MatrixXd	current_pose_
Eigen::MatrixXd	desired_pose_
double	dt_
double	fixed_to_id_
double	i_lim_
bool	init_
CMutex	input_ARtag_mutex_
ros::Subscriber	input_ARtag_subscriber_
Eigen::MatrixXd	kd_
Eigen::MatrixXd	ki_
Eigen::MatrixXd	kp_
CMutex	marker_mutex_
ros::Subscriber	marker_subscriber_
int	n_
bool	object_found_
std_msgs::Bool	object_found_msg_
ros::Publisher	object_found_publisher_
CMutex	odom_mutex_
ros::Subscriber	odom_subscriber_
Eigen::MatrixXd	P0_
std_msgs::Float64MultiArray	P0_msg_
ros::Publisher	P0_publisher_
bool	planar_
Eigen::MatrixXd	pn_
std_msgs::Float64MultiArray	pn_msg_
ros::Publisher	pn_publisher_
geometry_msgs::Pose	pose_
bool	random_points_
ar_pose::ARMarkers	target_artag_msg_
ros::Publisher	target_artag_publisher_
ros::Time	time_
ros::Time	time_last_
bool	traditional_
geometry_msgs::TwistWithCovariance	TwistWC_msg_
bool	underact_
Eigen::MatrixXd	v_rollpitch_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file artag_image_based_vs_alg_node.h.

Constructor & Destructor Documentation

ArtagImageBasedVsAlgNode::ArtagImageBasedVsAlgNode ( void )

Constructor.

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

Definition at line 3 of file artag_image_based_vs_alg_node.cpp.

ArtagImageBasedVsAlgNode::~ArtagImageBasedVsAlgNode ( void )

Destructor.

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

Definition at line 38 of file artag_image_based_vs_alg_node.cpp.

ArtagImageBasedVsAlgNode::ArtagImageBasedVsAlgNode ( void )

Constructor.

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

ArtagImageBasedVsAlgNode::~ArtagImageBasedVsAlgNode ( void )

Destructor.

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

Member Function Documentation

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

Definition at line 260 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::fill_msg	(	std_msgs::Float64MultiArray &	msg,
		const Eigen::MatrixXd &	data
	)		`[protected]`

Fill message.

Fill a std_msgs::Float64MultiArray message with data (2D matrix)

Definition at line 261 of file artag_virtual_features_alg_node.cpp.

void ArtagImageBasedVsAlgNode::get_marker_info ( const ar_pose::ARMarkers::ConstPtr & msg ) [protected]

Get marker info.

Extract marker data: time, pose and ID,

Definition at line 165 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::input_ARtag_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Definition at line 56 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

Definition at line 43 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::marker_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Definition at line 59 of file artag_virtual_features_alg_node.cpp.

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

void ArtagImageBasedVsAlgNode::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< ArtagImageBasedVsAlgorithm >.

Definition at line 218 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::odom_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 129 of file artag_image_based_vs_alg_node.cpp.

void ArtagImageBasedVsAlgNode::virtual_features ( ) [protected]

Virtual features.

Compute virtual features, its centered points, barycentric coordinates and the respective alfas. It could be randomly or not.

Definition at line 131 of file artag_virtual_features_alg_node.cpp.