IRI ROS Specific Driver Class. More...

#include <zyonz_camera_pose_around_point_alg.h>

Public Types
typedef zyonz_camera_pose_around_point::ZyonzCameraPoseAroundPointConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
geometry_msgs::PoseStamped::Ptr	get_camera_pose () const
bool	isRunning (geometry_msgs::PoseStamped &view_point, double &dist_m, double &rad_x_rot, double &rad_y_rot)
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	ZyonzCameraPoseAroundPointAlgorithm (void)
	constructor
	~ZyonzCameraPoseAroundPointAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
geometry_msgs::PoseStamped::Ptr	camera_pose_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 40 of file zyonz_camera_pose_around_point_alg.h.

Member Typedef Documentation

typedef zyonz_camera_pose_around_point::ZyonzCameraPoseAroundPointConfig ZyonzCameraPoseAroundPointAlgorithm::Config

define config type

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

Definition at line 62 of file zyonz_camera_pose_around_point_alg.h.

Constructor & Destructor Documentation

ZyonzCameraPoseAroundPointAlgorithm::ZyonzCameraPoseAroundPointAlgorithm ( 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 zyonz_camera_pose_around_point_alg.cpp.

ZyonzCameraPoseAroundPointAlgorithm::~ZyonzCameraPoseAroundPointAlgorithm ( void )

Destructor.

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

Definition at line 8 of file zyonz_camera_pose_around_point_alg.cpp.

Member Function Documentation

void ZyonzCameraPoseAroundPointAlgorithm::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 12 of file zyonz_camera_pose_around_point_alg.cpp.

geometry_msgs::PoseStamped::Ptr ZyonzCameraPoseAroundPointAlgorithm::get_camera_pose ( ) const

Definition at line 54 of file zyonz_camera_pose_around_point_alg.cpp.

bool ZyonzCameraPoseAroundPointAlgorithm::isRunning	(	geometry_msgs::PoseStamped &	view_point,
		double &	dist_m,
		double &	rad_x_rot,
		double &	rad_y_rot
	)