IRI ROS Specific Algorithm Class. More...

#include <map_location_alg_node.h>

Inheritance diagram for MapLocationAlgNode:

Public Member Functions
	MapLocationAlgNode (void)
	Constructor.
	~MapLocationAlgNode (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	locations_callback (const geometry_msgs::PoseArray::ConstPtr &msg)
void	mapcode_callback (const std_msgs::String::ConstPtr &msg)
void	updateImage ()
void	updateLocations ()
Private Attributes
sensor_msgs::ImagePtr	img_msg
image_transport::Publisher	img_pub_
image_transport::ImageTransport	it_
geometry_msgs::PoseArray	locations
CMutex	locations_mutex_
ros::Subscriber	locations_subscriber_
int	mapCode_
CMutex	mapcode_mutex_
ros::Subscriber	mapcode_subscriber_
int	t

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 51 of file map_location_alg_node.h.

Constructor & Destructor Documentation

MapLocationAlgNode::MapLocationAlgNode ( void )

Constructor.

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

Definition at line 3 of file map_location_alg_node.cpp.

MapLocationAlgNode::~MapLocationAlgNode ( void )

Destructor.

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

Definition at line 30 of file map_location_alg_node.cpp.

Member Function Documentation

void MapLocationAlgNode::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< MapLocationAlgorithm >.

Definition at line 100 of file map_location_alg_node.cpp.

void MapLocationAlgNode::locations_callback ( const geometry_msgs::PoseArray::ConstPtr & msg ) [private]

Definition at line 71 of file map_location_alg_node.cpp.

void MapLocationAlgNode::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< MapLocationAlgorithm >.

Definition at line 35 of file map_location_alg_node.cpp.

void MapLocationAlgNode::mapcode_callback ( const std_msgs::String::ConstPtr & msg ) [private]

Definition at line 53 of file map_location_alg_node.cpp.

void MapLocationAlgNode::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< MapLocationAlgorithm >.

Definition at line 93 of file map_location_alg_node.cpp.

void MapLocationAlgNode::updateImage ( ) [private]

Definition at line 154 of file map_location_alg_node.cpp.

void MapLocationAlgNode::updateLocations ( ) [private]

Definition at line 110 of file map_location_alg_node.cpp.