IRI ROS Specific Algorithm Class. More...

#include <obstacle_detection_normals_alg_node.h>

Inheritance diagram for ObstacleDetectionNormalsAlgNode:

Public Member Functions
	ObstacleDetectionNormalsAlgNode (void)
	Constructor.
	~ObstacleDetectionNormalsAlgNode (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	input_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
sensor_msgs::PointCloud2	all_rg_msg_
ros::Publisher	all_rg_publisher_
CMutex	input_mutex_
ros::Subscriber	input_subscriber_
int	KSearch
float	min_dist
float	normal_x
float	normal_y
float	normal_z
ObstacleDetectionNormalsAlgorithm	obstacle_detect
sensor_msgs::PointCloud2	obstacles_msg_
ros::Publisher	obstacles_publisher_
sensor_msgs::PointCloud	obstaclespc_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 54 of file obstacle_detection_normals_alg_node.h.

Constructor & Destructor Documentation

ObstacleDetectionNormalsAlgNode::ObstacleDetectionNormalsAlgNode ( void )

Constructor.

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

Definition at line 3 of file obstacle_detection_normals_alg_node.cpp.

ObstacleDetectionNormalsAlgNode::~ObstacleDetectionNormalsAlgNode ( void )

Destructor.

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

Definition at line 26 of file obstacle_detection_normals_alg_node.cpp.

Member Function Documentation

void ObstacleDetectionNormalsAlgNode::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< ObstacleDetectionNormalsAlgorithm >.

Definition at line 124 of file obstacle_detection_normals_alg_node.cpp.

void ObstacleDetectionNormalsAlgNode::input_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 45 of file obstacle_detection_normals_alg_node.cpp.

void ObstacleDetectionNormalsAlgNode::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< ObstacleDetectionNormalsAlgorithm >.

Definition at line 31 of file obstacle_detection_normals_alg_node.cpp.

void ObstacleDetectionNormalsAlgNode::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< ObstacleDetectionNormalsAlgorithm >.

Definition at line 113 of file obstacle_detection_normals_alg_node.cpp.