IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_pitch_estimator_alg_node.h>

Inheritance diagram for TibiDaboPitchEstimatorAlgNode:

Public Member Functions
	TibiDaboPitchEstimatorAlgNode (void)
	Constructor.
	~TibiDaboPitchEstimatorAlgNode (void)
	Destructor.
Public Attributes
Cpoint	intersection_
vector< Cpoint >	laser_
Cpoint	point
Claser_linear_regression	reg_line_
Claser_linear_regression::linear_regression_result	result_
Claser_linear_regression::linear_regression_result	result_horizontal
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 Types
enum	res_lines { One_line_state = 0, Two_lines_state, Line_partial_state, Line_unknown_state }
Private Member Functions
void	front_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	line_node (double &a1, double &b1, double &a2, double &b2, res_lines result_lines_)
void	marker_point_front_laser_node (double front_laser_point_x, double front_laser_point_y)
void	pitch_callback (const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr &msg)
void	rear_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
double	a1
double	a2
visualization_msgs::Marker	arrow_marker3_
visualization_msgs::Marker	arrow_marker4_
double	b1
double	b2
visualization_msgs::Marker	distance_front_laser_marker6_
double	error
ros::Publisher	front_laser_filtrado_publisher_
CMutex	front_laser_mutex_
double	front_laser_point_x
double	front_laser_point_y
ros::Subscriber	front_laser_subscriber_
visualization_msgs::Marker	intersection_marker5_
CMutex	laser_mutex_
ros::Subscriber	laser_subscriber_
sensor_msgs::LaserScan	LaserScan_front_msg_
sensor_msgs::LaserScan	LaserScan_rear_msg_
visualization_msgs::Marker	line_marker2_
visualization_msgs::Marker	line_marker_
ros::Publisher	MarkerArray_lines_publisher_
visualization_msgs::MarkerArray	MarkerArray_msg_
double	my_pitch_angle_
double	pitch
CMutex	pitch_mutex_
ros::Subscriber	pitch_subscriber_
ros::Publisher	rear_laser_filtrado_publisher_
CMutex	rear_laser_mutex_
double	rear_laser_point_x
double	rear_laser_point_y
ros::Subscriber	rear_laser_subscriber_
res_lines	result_lines_
double	security_distance_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 57 of file tibi_dabo_pitch_estimator_alg_node.h.

Member Enumeration Documentation

enum TibiDaboPitchEstimatorAlgNode::res_lines [private]

Enumerator:

One_line_state
Two_lines_state
Line_partial_state
Line_unknown_state

Definition at line 82 of file tibi_dabo_pitch_estimator_alg_node.h.

Constructor & Destructor Documentation

TibiDaboPitchEstimatorAlgNode::TibiDaboPitchEstimatorAlgNode ( void )

Constructor.

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

Definition at line 7 of file tibi_dabo_pitch_estimator_alg_node.cpp.

TibiDaboPitchEstimatorAlgNode::~TibiDaboPitchEstimatorAlgNode ( void )

Destructor.

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

Definition at line 36 of file tibi_dabo_pitch_estimator_alg_node.cpp.

Member Function Documentation

void TibiDaboPitchEstimatorAlgNode::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< TibiDaboPitchEstimatorAlgorithm >.

Definition at line 622 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::front_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 145 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 116 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::line_node	(	double &	a1,
		double &	b1,
		double &	a2,
		double &	b2,
		res_lines	result_lines_
	)		`[private]`

Definition at line 282 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::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< TibiDaboPitchEstimatorAlgorithm >.

Definition at line 41 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::marker_point_front_laser_node	(	double	front_laser_point_x,
		double	front_laser_point_y
	)		`[private]`

Definition at line 561 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::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< TibiDaboPitchEstimatorAlgorithm >.

Definition at line 615 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::pitch_callback ( const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr & msg ) [private]

Definition at line 102 of file tibi_dabo_pitch_estimator_alg_node.cpp.

void TibiDaboPitchEstimatorAlgNode::rear_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 211 of file tibi_dabo_pitch_estimator_alg_node.cpp.