IRI ROS Specific Algorithm Class. More...

#include <camera_object_learner_alg_node.h>

Inheritance diagram for CameraObjectLearnerAlgNode:

Public Member Functions
	CameraObjectLearnerAlgNode (void)
	Constructor.
	~CameraObjectLearnerAlgNode (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	image_callback (const sensor_msgs::ImageConstPtr &image_msg)
Private Attributes
image_transport::Subscriber	camera_subscriber
image_transport::Publisher	image_publisher
ros::ServiceClient	init_client
bool	init_ok
cv::Rect	init_rect
iri_camera_object_learner_server::init	init_srv
sensor_msgs::ImageConstPtr	input_image
image_transport::ImageTransport	it
sensor_msgs::ImagePtr	output_image
bool	receiving_images

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file camera_object_learner_alg_node.h.

Constructor & Destructor Documentation

CameraObjectLearnerAlgNode::CameraObjectLearnerAlgNode ( void )

Constructor.

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

Definition at line 3 of file camera_object_learner_alg_node.cpp.

CameraObjectLearnerAlgNode::~CameraObjectLearnerAlgNode ( void )

Destructor.

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

Definition at line 28 of file camera_object_learner_alg_node.cpp.

Member Function Documentation

void CameraObjectLearnerAlgNode::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< CameraObjectLearnerAlgorithm >.

Definition at line 119 of file camera_object_learner_alg_node.cpp.

void CameraObjectLearnerAlgNode::image_callback ( const sensor_msgs::ImageConstPtr & image_msg ) [private]

Definition at line 92 of file camera_object_learner_alg_node.cpp.

void CameraObjectLearnerAlgNode::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< CameraObjectLearnerAlgorithm >.

Definition at line 33 of file camera_object_learner_alg_node.cpp.

void CameraObjectLearnerAlgNode::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< CameraObjectLearnerAlgorithm >.

Definition at line 112 of file camera_object_learner_alg_node.cpp.