VwsAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <vws_alg.h>

List of all members.

Public Types
typedef iri_vws::VwsConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
cv::Mat	descriptors_srv_to_mat (iri_perception_msgs::DescriptorsToVws::Request &req)
	Convert Descriptor msgs to cv::Mat.
iri_perception_msgs::GeoVwSet	get_geo_vw_from_descriptors (iri_perception_msgs::DescriptorsToVws::Request &req)
	GeoVw from descriptors.
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	VwsAlgorithm (void)
	constructor
	~VwsAlgorithm (void)
	Destructor.
Public Attributes
cv::Mat	centroids_
bool	centroids_ready_
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 47 of file vws_alg.h.

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Member Typedef Documentation

typedef iri_vws::VwsConfig VwsAlgorithm::Config

define config type

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

Definition at line 67 of file vws_alg.h.

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Constructor & Destructor Documentation

VwsAlgorithm::VwsAlgorithm

(

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 vws_alg.cpp.

VwsAlgorithm::~VwsAlgorithm

(

void

)

Destructor.

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

Definition at line 7 of file vws_alg.cpp.

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Member Function Documentation

void VwsAlgorithm::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:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 11 of file vws_alg.cpp.

cv::Mat VwsAlgorithm::descriptors_srv_to_mat

(

iri_perception_msgs::DescriptorsToVws::Request &

req

)

Convert Descriptor msgs to cv::Mat.

Convert Descriptor msgs to cv::Mat

Definition at line 22 of file vws_alg.cpp.

iri_perception_msgs::GeoVwSet VwsAlgorithm::get_geo_vw_from_descriptors

(

iri_perception_msgs::DescriptorsToVws::Request &

req

)

GeoVw from descriptors.

Get geo visual words from descriptors

Definition at line 37 of file vws_alg.cpp.

void VwsAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 92 of file vws_alg.h.

bool VwsAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 108 of file vws_alg.h.

void VwsAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 99 of file vws_alg.h.

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Member Data Documentation

CMutex VwsAlgorithm::alg_mutex_ [protected]

define config type

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

Definition at line 56 of file vws_alg.h.

cv::Mat VwsAlgorithm::centroids_

Definition at line 136 of file vws_alg.h.

bool VwsAlgorithm::centroids_ready_

Definition at line 137 of file vws_alg.h.

Config VwsAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 75 of file vws_alg.h.

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

• vws_alg.h
• vws_alg.cpp