From 745ef2769237377f4ae1ee63374d8e2cb758630a Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Fri, 4 Feb 2011 15:56:07 +0000
Subject: [PATCH] updating alg_core and examples to move cfg file at the
impl_algorithm layer
---
.../iri_base_algorithm/iri_base_algorithm.h | 21 ++++++++++---------
1 file changed, 11 insertions(+), 10 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 12727aa..c1ac22a 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -198,14 +198,15 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
* \brief dynamic reconfigure server callback
*
* This method is called whenever a new configuration is received through
- * the dynamic reconfigure.
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
*
* \param config an object with new configuration from all algorithm
* parameters defined in the config file.
* \param level integer referring the level in which the configuration
* has been changed.
*/
- void reconfigureCallback(Config &config, uint32_t level);
+ virtual void reconfigureCallback(Config &config, uint32_t level) = 0;
/**
* \brief add diagnostics
@@ -257,11 +258,11 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
template <class Algorithm>
IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
- private_node_handle_("~"),
public_node_handle_(ros::this_node::getName()),
+ private_node_handle_("~"),
+ loop_rate_(DEFAULT_RATE),
dsrv_(private_node_handle_),
- diagnostic_(),
- loop_rate_(DEFAULT_RATE)
+ diagnostic_()
{
// create thread server instance
this->thread_server_ = CThreadServer::instance();
@@ -284,11 +285,11 @@ IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
this->thread_server_->kill_thread(this->main_thread_id_);
}
-template <class Algorithm>
-void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
-{
- this->alg_.config_ = config;
-}
+// template <class Algorithm>
+// void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
+// {
+// this->alg_.config_ = config;
+// }
template <class Algorithm>
void IriBaseAlgorithm<Algorithm>::addDiagnostics(void)
--
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