Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
FeatureMapAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <feature_map_alg_node.h>

Inheritance diagram for FeatureMapAlgNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 FeatureMapAlgNode (void)
 Constructor.
 ~FeatureMapAlgNode (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 classifier_update_callback (iri_publish_params::classifier_update_service::Request &req, iri_publish_params::classifier_update_service::Response &res)
void descs_callback (const normal_descriptor_node::ndesc_pc &ndesc_pc_msg)

Private Attributes

ros::ServiceServer classifier_updates_service_
sensor_msgs::PointCloud2 cloud_out_
ros::Subscriber desc_subscriber_
ros::Publisher heat_map_publisher_
ros::Publisher last_eval_max_score_publisher_
ros::Publisher last_eval_min_score_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 44 of file feature_map_alg_node.h.


Constructor & Destructor Documentation

Constructor.

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

Definition at line 4 of file feature_map_alg_node.cpp.

Destructor.

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

Definition at line 30 of file feature_map_alg_node.cpp.


Member Function Documentation

void FeatureMapAlgNode::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< FeatureMapAlgorithm >.

Definition at line 95 of file feature_map_alg_node.cpp.

Definition at line 69 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::descs_callback ( const normal_descriptor_node::ndesc_pc ndesc_pc_msg) [private]

Definition at line 47 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::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< FeatureMapAlgorithm >.

Definition at line 35 of file feature_map_alg_node.cpp.

void FeatureMapAlgNode::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:
configan object with new configuration from all algorithm parameters defined in the config file.
levelinteger referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< FeatureMapAlgorithm >.

Definition at line 87 of file feature_map_alg_node.cpp.


Member Data Documentation

Definition at line 58 of file feature_map_alg_node.h.

sensor_msgs::PointCloud2 FeatureMapAlgNode::cloud_out_ [private]

Definition at line 52 of file feature_map_alg_node.h.

Definition at line 55 of file feature_map_alg_node.h.

Definition at line 48 of file feature_map_alg_node.h.

Definition at line 49 of file feature_map_alg_node.h.

Definition at line 50 of file feature_map_alg_node.h.


The documentation for this class was generated from the following files:


iri_feature_map
Author(s): Arnau Ramisa
autogenerated on Fri Dec 6 2013 21:14:32