IRI ROS Specific Driver Class. More...
#include <kinton_arm_tag_tracker_alg.h>
Public Types | |
typedef kinton_arm_tag_tracker::KintonArmTagTrackerConfig | Config |
define config type | |
Public Member Functions | |
void | config_update (Config &new_cfg, uint32_t level=0) |
config update | |
KintonArmTagTrackerAlgorithm (void) | |
constructor | |
void | lock (void) |
Lock Algorithm. | |
void | tag_tracker (const MatrixXd &cam_vel, const Chain &kdl_chain, const double &dt, MatrixXd &q) |
Main algorithm. | |
bool | try_enter (void) |
Tries Access to Algorithm. | |
void | unlock (void) |
Unlock Algorithm. | |
~KintonArmTagTrackerAlgorithm (void) | |
Destructor. | |
Public Attributes | |
Config | config_ |
config variable | |
Protected Attributes | |
CMutex | alg_mutex_ |
define config type | |
CKinton_Arm_Kinematics | kinematics_ |
IRI ROS Specific Driver Class.
Definition at line 44 of file kinton_arm_tag_tracker_alg.h.
typedef kinton_arm_tag_tracker::KintonArmTagTrackerConfig KintonArmTagTrackerAlgorithm::Config |
define config type
Define a Config type with the KintonArmTagTrackerConfig. All driver implementations will then use the same variable type Config.
Definition at line 78 of file kinton_arm_tag_tracker_alg.h.
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 6 of file kinton_arm_tag_tracker_alg.cpp.
Destructor.
This destructor is called when the object is about to be destroyed.
Definition at line 10 of file kinton_arm_tag_tracker_alg.cpp.
void KintonArmTagTrackerAlgorithm::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.
new_cfg | the new driver configuration state |
level | level in which the update is taken place |
Definition at line 14 of file kinton_arm_tag_tracker_alg.cpp.
void KintonArmTagTrackerAlgorithm::lock | ( | void | ) | [inline] |
Lock Algorithm.
Locks access to the Algorithm class
Definition at line 103 of file kinton_arm_tag_tracker_alg.h.
void KintonArmTagTrackerAlgorithm::tag_tracker | ( | const MatrixXd & | cam_vel, |
const Chain & | kdl_chain, | ||
const double & | dt, | ||
MatrixXd & | q | ||
) |
Main algorithm.
Tag tracker algorithm call.
Definition at line 26 of file kinton_arm_tag_tracker_alg.cpp.
bool KintonArmTagTrackerAlgorithm::try_enter | ( | void | ) | [inline] |
Tries Access to Algorithm.
Tries access to Algorithm
Definition at line 119 of file kinton_arm_tag_tracker_alg.h.
void KintonArmTagTrackerAlgorithm::unlock | ( | void | ) | [inline] |
Unlock Algorithm.
Unlocks access to the Algorithm class
Definition at line 110 of file kinton_arm_tag_tracker_alg.h.
CMutex KintonArmTagTrackerAlgorithm::alg_mutex_ [protected] |
define config type
Define a Config type with the KintonArmTagTrackerConfig. All driver implementations will then use the same variable type Config.
Definition at line 53 of file kinton_arm_tag_tracker_alg.h.
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 86 of file kinton_arm_tag_tracker_alg.h.
CKinton_Arm_Kinematics KintonArmTagTrackerAlgorithm::kinematics_ [protected] |
Definition at line 57 of file kinton_arm_tag_tracker_alg.h.