IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.h>

Inheritance diagram for TibiDaboPitchEstimatorSinLaserVerticalAlgNode:

Public Member Functions
	TibiDaboPitchEstimatorSinLaserVerticalAlgNode (void)
	Constructor.
	~TibiDaboPitchEstimatorSinLaserVerticalAlgNode (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	front_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	function_markers (double pitch)
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_
visualization_msgs::Marker	arrow_intersection_
double	b1_
visualization_msgs::Marker	distance_front_laser_marker6_
visualization_msgs::Marker	floor_line_marker_
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_
double	front_security_distance_
sensor_msgs::LaserScan	LaserScan_front_msg_
sensor_msgs::LaserScan	LaserScan_rear_msg_
ros::Publisher	MarkerArray_lines_publisher_
visualization_msgs::MarkerArray	MarkerArray_msg_
double	pitch
visualization_msgs::Marker	pitch_arrow_marker_
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_
double	rear_security_distance_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 45 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.h.

Constructor & Destructor Documentation

TibiDaboPitchEstimatorSinLaserVerticalAlgNode::TibiDaboPitchEstimatorSinLaserVerticalAlgNode ( void )

Constructor.

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

Definition at line 5 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

TibiDaboPitchEstimatorSinLaserVerticalAlgNode::~TibiDaboPitchEstimatorSinLaserVerticalAlgNode ( void )

Destructor.

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

Definition at line 34 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

Member Function Documentation

void TibiDaboPitchEstimatorSinLaserVerticalAlgNode::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< TibiDaboPitchEstimatorSinLaserVerticalAlgorithm >.

Definition at line 409 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

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

Definition at line 60 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

void TibiDaboPitchEstimatorSinLaserVerticalAlgNode::function_markers ( double pitch ) [private]

Definition at line 220 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

void TibiDaboPitchEstimatorSinLaserVerticalAlgNode::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< TibiDaboPitchEstimatorSinLaserVerticalAlgorithm >.

Definition at line 39 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

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

Definition at line 347 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

void TibiDaboPitchEstimatorSinLaserVerticalAlgNode::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< TibiDaboPitchEstimatorSinLaserVerticalAlgorithm >.

Definition at line 402 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

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

Definition at line 198 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.

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

Definition at line 129 of file tibi_dabo_pitch_estimator_sin_laser_vertical_alg_node.cpp.