From d87f7f7af22a10f9adefe423b51cafb99e59ff6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?=
<jdominguez@iri.upc.edu>
Date: Fri, 4 Oct 2019 09:41:13 +0200
Subject: [PATCH] Old header files deleted
---
include/OLD_hole_detection_alg.h | 144 -------------------------
include/OLD_hole_detection_alg_node.h | 145 --------------------------
2 files changed, 289 deletions(-)
delete mode 100644 include/OLD_hole_detection_alg.h
delete mode 100644 include/OLD_hole_detection_alg_node.h
diff --git a/include/OLD_hole_detection_alg.h b/include/OLD_hole_detection_alg.h
deleted file mode 100644
index a9d24a0..0000000
--- a/include/OLD_hole_detection_alg.h
+++ /dev/null
@@ -1,144 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _hole_detection_alg_h_
-#define _hole_detection_alg_h_
-
-#include <iri_hole_detection/HoleDetectionConfig.h>
-#include "mutex.h"
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/ros/conversions.h>
-#include <pcl/point_types.h>
-#include <pcl/impl/point_types.hpp>
-
-
-using namespace pcl;
-using namespace std;
-//include hole_detection_alg main library
-
-/**
- * \brief IRI ROS Specific Driver Class
- *
- *
- */
-class HoleDetectionAlgorithm
-{
- protected:
- /**
- * \brief define config type
- *
- * Define a Config type with the HoleDetectionConfig. All driver implementations
- * will then use the same variable type Config.
- */
- CMutex alg_mutex_;
-
- // private attributes and methods
- int hole_min_p;
- float box_y_end,box_z_ini,box_x,box_y_ini,box_z_end,Xl,Xc,Xr,Y;
- pcl::PointCloud<pcl::PointXYZRGB> cloud_in;
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_for;
- public:
- /**
- * \brief define config type
- *
- * Define a Config type with the HoleDetectionConfig. All driver implementations
- * will then use the same variable type Config.
- */
- typedef iri_hole_detection::HoleDetectionConfig Config;
-
- /**
- * \brief config variable
- *
- * This variable has all the driver parameters defined in the cfg config file.
- * Is updated everytime function config_update() is called.
- */
- Config config_;
-
- /**
- * \brief 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.
- */
- HoleDetectionAlgorithm(void);
-
- /**
- * \brief Lock Algorithm
- *
- * Locks access to the Algorithm class
- */
- void lock(void) { alg_mutex_.enter(); };
-
- /**
- * \brief Unlock Algorithm
- *
- * Unlocks access to the Algorithm class
- */
- void unlock(void) { alg_mutex_.exit(); };
-
- /**
- * \brief Tries Access to Algorithm
- *
- * Tries access to Algorithm
- *
- * \return true if the lock was adquired, false otherwise
- */
- bool try_enter(void) { return alg_mutex_.try_enter(); };
-
- /**
- * \brief 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.
- *
- * \param new_cfg the new driver configuration state
- *
- * \param level level in which the update is taken place
- */
- void config_update(Config& new_cfg, uint32_t level=0);
-
- // here define all hole_detection_alg interface methods to retrieve and set
- // the driver parameters
-
- /**
- * \brief Destructor
- *
- * This destructor is called when the object is about to be destroyed.
- *
- */
- ~HoleDetectionAlgorithm(void);
-
- void cloud_all(int hole_min_p, float box_y_end, float box_z_ini,
- float box_x, float box_y_ini, float box_z_end,
- float Xl, float Xc, float Xr, float Y,
- pcl::PointCloud<pcl::PointXYZRGB>& cloud_in,
- pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_out);
-
-};
-
-#endif
diff --git a/include/OLD_hole_detection_alg_node.h b/include/OLD_hole_detection_alg_node.h
deleted file mode 100644
index bdc9912..0000000
--- a/include/OLD_hole_detection_alg_node.h
+++ /dev/null
@@ -1,145 +0,0 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author
-// All rights reserved.
-//
-// This file is part of iri-ros-pkg
-// iri-ros-pkg is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
-// of the scripts. ROS topics can be easly add by using those scripts. Please
-// refer to the IRI wiki page for more information:
-// http://wikiri.upc.es/index.php/Robotics_Lab
-
-#ifndef _hole_detection_alg_node_h_
-#define _hole_detection_alg_node_h_
-
-#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "hole_detection_alg.h"
-
-#include <ros/ros.h>
-//#include <ros/publisher.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/ros/conversions.h>
-#include <pcl/point_types.h>
-
-
-
-// [publisher subscriber headers]
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/PointCloud.h>
-#include <sensor_msgs/point_cloud_conversion.h>
-// [service client headers]
-
-// [action server client headers]
-
-using namespace std;
-
-/**
- * \brief IRI ROS Specific Algorithm Class
- *
- */
-class HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>
-{
- private:
-
- int hole_min_p;
- float box_y_end,box_z_ini,box_y_ini,box_z_end,box_x,Xl,Xc,Xr,Y;
-// bool L,C,R;
-
- // [publisher attributes]
- ros::Publisher hole_obstacle_publisher_;
- sensor_msgs::PointCloud2 PointCloud2_msg_;
- sensor_msgs::PointCloud PointCloud_msg_;
-
-
- ros::Publisher hole_all_publisher_;
- sensor_msgs::PointCloud2 PointCloud2_msg_all;
- pcl::PointCloud<pcl::PointXYZ> cloud_in;
- pcl::PointCloud<pcl::PointXYZRGB> cloud_in_rgb;
-
- // [subscriber attributes]
- ros::Subscriber input_subscriber_;
- void input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
- CMutex input_mutex_;
-
- // [service attributes]
-
- // [client attributes]
-
- // [action server attributes]
- HoleDetectionAlgorithm hole_detect;
- // [action client attributes]
-
- public:
- /**
- * \brief Constructor
- *
- * This constructor initializes specific class attributes and all ROS
- * communications variables to enable message exchange.
- */
- HoleDetectionAlgNode(void);
-
- /**
- * \brief Destructor
- *
- * This destructor frees all necessary dynamic memory allocated within this
- * this class.
- */
- ~HoleDetectionAlgNode(void);
-
- protected:
- /**
- * \brief 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.
- */
- void mainNodeThread(void);
-
- /**
- * \brief 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.
- *
- * \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 node_config_update(Config &config, uint32_t level);
-
- /**
- * \brief node add diagnostics
- *
- * In this abstract function additional ROS diagnostics applied to the
- * specific algorithms may be added.
- */
- void addNodeDiagnostics(void);
-
- // [diagnostic functions]
-
- // [test functions]
-};
-
-#endif
--
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