IRI ROS Specific Algorithm Class. More...

#include <iri_score_map_mix_node.h>

Inheritance diagram for ScoreMapMixAlgNode:

Public Member Functions
	ScoreMapMixAlgNode (void)
	Constructor.
	~ScoreMapMixAlgNode (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
bool	algorithm_idCallback (iri_deformable_analysis::SetScoreMixAlgorithmID::Request &req, iri_deformable_analysis::SetScoreMixAlgorithmID::Response &res)
void	algorithmConfigurationTranslation (int alg_id)
bool	all_clouds_ready ()
void	computeGraspPoints ()
void	computeScoreMap ()
void	getMax (const pcl::PointCloud< pcl::PointXYZRGB > score_map, pcl::PointXYZRGB &grasp_point, int &pcl_row, int &pcl_col, float &max_score, float &min_score)
void	normalizeScoreMap (const pcl::PointCloud< pcl::PointXYZRGB > score_map)
void	normalizeScoreMap (const pcl::PointCloud< pcl::PointXYZRGB > score_map, double max_input, double min_input)
void	score_map0_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map1_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map2_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map3_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map4_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map5_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map6_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	score_map7_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
CMutex	algorithm_id_mutex_
ros::Publisher	algorithm_id_publisher_
ros::ServiceServer	algorithm_id_server_
geometry_msgs::PoseStamped	best_scored_pose_
ros::Publisher	grasping_point_pose_publisher_
std::vector< pcl::PointCloud < pcl::PointXYZRGB > >	input_score_maps_
int	num_score_maps_
pcl::PointCloud< pcl::PointXYZRGB >	output_score_map_
CMutex	score_map0_mutex_
ros::Subscriber	score_map0_subscriber_
CMutex	score_map1_mutex_
ros::Subscriber	score_map1_subscriber_
CMutex	score_map2_mutex_
ros::Subscriber	score_map2_subscriber_
CMutex	score_map3_mutex_
ros::Subscriber	score_map3_subscriber_
CMutex	score_map4_mutex_
ros::Subscriber	score_map4_subscriber_
CMutex	score_map5_mutex_
ros::Subscriber	score_map5_subscriber_
CMutex	score_map6_mutex_
ros::Subscriber	score_map6_subscriber_
CMutex	score_map7_mutex_
ros::Subscriber	score_map7_subscriber_
sensor_msgs::PointCloud2	score_map_global_msg_
ros::Publisher	score_map_global_publisher_
std::vector< bool >	score_map_ready_
iri_deformable_analysis::ScoreMapMixResults	score_results_
ros::Publisher	score_results_publisher_
int	selection_algorithm_id_
std_msgs::UInt32	UInt32_msg_
std::vector< double >	weights_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 63 of file iri_score_map_mix_node.h.

Constructor & Destructor Documentation

ScoreMapMixAlgNode::ScoreMapMixAlgNode ( void )

Constructor.

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

Definition at line 3 of file iri_score_map_mix_node.cpp.

ScoreMapMixAlgNode::~ScoreMapMixAlgNode ( void )

Destructor.

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

Definition at line 44 of file iri_score_map_mix_node.cpp.

Member Function Documentation

void ScoreMapMixAlgNode::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< ScoreMapMixAlgorithm >.

Definition at line 312 of file iri_score_map_mix_node.cpp.

bool ScoreMapMixAlgNode::algorithm_idCallback	(	iri_deformable_analysis::SetScoreMixAlgorithmID::Request &	req,
		iri_deformable_analysis::SetScoreMixAlgorithmID::Response &	res
	)		`[private]`

Definition at line 244 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::algorithmConfigurationTranslation ( int alg_id ) [private]

Definition at line 338 of file iri_score_map_mix_node.cpp.

bool ScoreMapMixAlgNode::all_clouds_ready ( ) [private]

Definition at line 316 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::computeGraspPoints ( ) [private]

Definition at line 421 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::computeScoreMap ( ) [private]

Definition at line 360 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::getMax	(	const pcl::PointCloud< pcl::PointXYZRGB >	score_map,
		pcl::PointXYZRGB &	grasp_point,
		int &	pcl_row,
		int &	pcl_col,
		float &	max_score,
		float &	min_score
	)		`[private]`

Definition at line 392 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::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< ScoreMapMixAlgorithm >.

Definition at line 49 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::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< ScoreMapMixAlgorithm >.

Definition at line 282 of file iri_score_map_mix_node.cpp.

void ScoreMapMixAlgNode::normalizeScoreMap ( const pcl::PointCloud< pcl::PointXYZRGB > score_map ) [private]

Definition at line 490 of file iri_score_map_mix_node.cpp.