IRI ROS Specific Algorithm Class. More...

#include <zyonz_find_leaf_probing_points_alg_node.h>

Inheritance diagram for ZyonzFindLeafProbingPointsAlgNode:

Public Member Functions
	ZyonzFindLeafProbingPointsAlgNode (void)
	Constructor.
	~ZyonzFindLeafProbingPointsAlgNode (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
bool	get_pose_arrayCallback (zyonz_msgs::GetPoseArray::Request &req, zyonz_msgs::GetPoseArray::Response &res)
void	input_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
bool	data_processed_
CMutex	get_pose_array_mutex_
ros::ServiceServer	get_pose_array_server_
CMutex	input_mutex_
ros::Subscriber	input_subscriber_
visualization_msgs::Marker	Marker_msg_
ros::Publisher	output_marker_publisher_
ros::Publisher	output_pointcloud_publisher_
sensor_msgs::PointCloud2	PointCloud2_msg_
geometry_msgs::PoseArray	pose_array_
geometry_msgs::PoseArray	PoseArray_msg_
ros::Publisher	poses_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 65 of file zyonz_find_leaf_probing_points_alg_node.h.

Constructor & Destructor Documentation

ZyonzFindLeafProbingPointsAlgNode::ZyonzFindLeafProbingPointsAlgNode ( void )

Constructor.

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

Definition at line 9 of file zyonz_find_leaf_probing_points_alg_node.cpp.

ZyonzFindLeafProbingPointsAlgNode::~ZyonzFindLeafProbingPointsAlgNode ( void )

Destructor.

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

Definition at line 34 of file zyonz_find_leaf_probing_points_alg_node.cpp.

Member Function Documentation

void ZyonzFindLeafProbingPointsAlgNode::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< ZyonzFindLeafProbingPointsAlgorithm >.

Definition at line 350 of file zyonz_find_leaf_probing_points_alg_node.cpp.

bool ZyonzFindLeafProbingPointsAlgNode::get_pose_arrayCallback	(	zyonz_msgs::GetPoseArray::Request &	req,
		zyonz_msgs::GetPoseArray::Response &	res
	)		`[private]`

Definition at line 301 of file zyonz_find_leaf_probing_points_alg_node.cpp.

void ZyonzFindLeafProbingPointsAlgNode::input_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 57 of file zyonz_find_leaf_probing_points_alg_node.cpp.

void ZyonzFindLeafProbingPointsAlgNode::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< ZyonzFindLeafProbingPointsAlgorithm >.

Definition at line 39 of file zyonz_find_leaf_probing_points_alg_node.cpp.

void ZyonzFindLeafProbingPointsAlgNode::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< ZyonzFindLeafProbingPointsAlgorithm >.

Definition at line 343 of file zyonz_find_leaf_probing_points_alg_node.cpp.