IRI ROS Specific Driver Class. More...

#include <pointcloud_to_eigenvectors_alg.h>

Public Types
typedef iri_pointcloud_to_eigenvectors::PointcloudToEigenvectorsConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
bool	get_eigenvectors (const sensor_msgs::PointCloud2::ConstPtr &msg)
visualization_msgs::Marker	getMarker ()
Eigen::Vector4f	getPlaneCentroid ()
Eigen::Quaternionf	getPlanePose ()
void	lock (void)
	Lock Algorithm.
	PointcloudToEigenvectorsAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~PointcloudToEigenvectorsAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
visualization_msgs::Marker	Marker_msg_
Eigen::Vector4f	plane_centroid_
Eigen::Quaternionf	plane_pose_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 44 of file pointcloud_to_eigenvectors_alg.h.

Member Typedef Documentation

typedef iri_pointcloud_to_eigenvectors::PointcloudToEigenvectorsConfig PointcloudToEigenvectorsAlgorithm::Config

define config type

Define a Config type with the PointcloudToEigenvectorsConfig. All driver implementations will then use the same variable type Config.

Definition at line 67 of file pointcloud_to_eigenvectors_alg.h.

Constructor & Destructor Documentation

PointcloudToEigenvectorsAlgorithm::PointcloudToEigenvectorsAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file pointcloud_to_eigenvectors_alg.cpp.

PointcloudToEigenvectorsAlgorithm::~PointcloudToEigenvectorsAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 7 of file pointcloud_to_eigenvectors_alg.cpp.

Member Function Documentation

void PointcloudToEigenvectorsAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: