feature_map_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _feature_map_alg_node_h_
00026 #define _feature_map_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "feature_map_alg.h"
00030 //#include "iri_feature_map/classifier_params.h"
00031 //#include "iri_feature_map/classifier_update.h"
00032 #include <iri_publish_params/classifier_update_service.h>
00033 
00034 // [publisher subscriber headers]
00035 
00036 // [service client headers]
00037 
00038 // [action server client headers]
00039 
00044 class FeatureMapAlgNode : public algorithm_base::IriBaseAlgorithm<FeatureMapAlgorithm>
00045 {
00046   private:
00047     // [publisher attributes]
00048     ros::Publisher heat_map_publisher_;
00049     ros::Publisher last_eval_max_score_publisher_;
00050     ros::Publisher last_eval_min_score_publisher_;
00051 
00052     sensor_msgs::PointCloud2 cloud_out_;
00053 
00054     // [subscriber attributes]
00055     ros::Subscriber desc_subscriber_;
00056     void descs_callback(const normal_descriptor_node::ndesc_pc &ndesc_pc_msg);
00057 
00058     ros::ServiceServer classifier_updates_service_;
00059     bool classifier_update_callback(iri_publish_params::classifier_update_service::Request & req,
00060                                     iri_publish_params::classifier_update_service::Response & res);
00061 
00062     // [service attributes]
00063     
00064     // [client attributes]
00065     
00066     // [action server attributes]
00067     
00068     // [action client attributes]
00069 
00070   public:
00077     FeatureMapAlgNode(void);
00078 
00085     ~FeatureMapAlgNode(void);
00086 
00087   protected:
00100     void mainNodeThread(void);
00101 
00114     void node_config_update(Config &config, uint32_t level);
00115 
00122     void addNodeDiagnostics(void);
00123 
00124     // [diagnostic functions]
00125     
00126     // [test functions]
00127 };
00128 
00129 #endif


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