articulation_models::GenericModel Class Reference

#include <generic_model.h>

Inheritance diagram for articulation_models::GenericModel:

[legend]

List of all members.

Public Member Functions
virtual double	evalLatestJacobian ()
virtual bool	evaluateModel ()
virtual bool	fitMinMaxConfigurations ()
virtual bool	fitModel ()
	GenericModel ()
virtual double	getBIC ()
virtual V_Configuration	getConfiguration (size_t index)
virtual size_t	getDOFs ()
int	getId ()
virtual double	getInlierLogLikelihood (size_t index)
virtual double	getLogLikelihood (bool estimate_outlier_ratio)
virtual double	getLogLikelihoodForPoseIndex (size_t index)
virtual V_Configuration	getMaxConfigurationObserved ()
virtual V_Configuration	getMinConfigurationObserved ()
virtual articulation_msgs::ModelMsg	getModel ()
virtual std::string	getModelName ()
virtual double	getOrientationError ()
virtual double	getOutlierLogLikelihood ()
void	getParam (std::string name, Eigen::MatrixXd &mat)
void	getParam (std::string name, Eigen::VectorXd &vec)
void	getParam (std::string name, btTransform &t)
void	getParam (std::string name, btQuaternion &quat)
void	getParam (std::string name, btVector3 &vec)
void	getParam (std::string name, double &data)
double	getParam (std::string name)
virtual double	getPositionError ()
virtual size_t	getSamples ()
virtual articulation_msgs::TrackMsg	getTrack ()
virtual bool	guessParameters ()
bool	hasParam (std::string name)
virtual void	keepLatestPoseOnly ()
virtual bool	normalizeParameters ()
virtual int	openChannel (std::string name, bool autocreate=true)
virtual bool	optimizeParameters ()
virtual V_Configuration	predictConfiguration (geometry_msgs::Pose pose)
virtual M_CartesianJacobian	predictHessian (V_Configuration q, double delta=1e-6)
virtual M_CartesianJacobian	predictJacobian (V_Configuration q, double delta=1e-6)
virtual geometry_msgs::Pose	predictPose (V_Configuration q)
virtual void	prepareChannels ()
virtual void	projectConfigurationToJacobian ()
virtual void	projectConfigurationToPose ()
virtual void	projectPoseToConfiguration ()
virtual void	readParamsFromModel ()
virtual void	sampleConfigurationSpace (double resolution)
virtual bool	sampleConsensus ()
virtual void	setConfiguration (size_t index, V_Configuration q)
void	setId (int id)
virtual void	setJacobian (size_t index, M_CartesianJacobian J)
virtual void	setModel (const articulation_msgs::ModelMsg &model)
void	setParam (std::string name, const Eigen::MatrixXd &mat, int type)
void	setParam (std::string name, const Eigen::VectorXd &vec, int type)
void	setParam (std::string name, const btTransform &t, int type)
void	setParam (std::string name, const btQuaternion &quat, int type)
void	setParam (std::string name, const btVector3 &vec, int type)
void	setParam (std::string name, double value, int type)
virtual void	setTrack (const articulation_msgs::TrackMsg &track)
virtual void	updateParameters (std::vector< double > delta)
virtual void	writeParamsToModel ()
Public Attributes
double	avg_error_orientation
double	avg_error_position
double	bic
std::vector< int >	channelConfiguration
int	channelInlierLogLikelihood
int	channelLogLikelihood
int	channelOutlier
double	complexity
double	evaluated
Eigen::MatrixXd	hessian
Eigen::MatrixXd	jacobian
double	last_error_jacobian
double	loglikelihood
articulation_msgs::ModelMsg	model
double	optimizer_iterations
double	outlier_ratio
std::vector < articulation_msgs::ParamMsg >	params_initial
double	prior_outlier_ratio
double	sac_iterations
double	sigma_orientation
double	sigma_position
double	supress_similar

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Detailed Description

Definition at line 19 of file generic_model.h.

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Constructor & Destructor Documentation

articulation_models::GenericModel::GenericModel

(

)

Definition at line 32 of file generic_model.cpp.

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Member Function Documentation

double articulation_models::GenericModel::evalLatestJacobian

(

)

[virtual]

Definition at line 344 of file generic_model.cpp.

bool articulation_models::GenericModel::evaluateModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 279 of file generic_model.cpp.

bool articulation_models::GenericModel::fitMinMaxConfigurations

(

)

[virtual]

Definition at line 271 of file generic_model.cpp.

bool articulation_models::GenericModel::fitModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 256 of file generic_model.cpp.

double articulation_models::GenericModel::getBIC

(

)

[virtual]

Definition at line 392 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getConfiguration

(

size_t

index

)

[virtual]

Definition at line 469 of file generic_model.cpp.

size_t articulation_models::GenericModel::getDOFs

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 94 of file generic_model.cpp.

int articulation_models::GenericModel::getId

(

)

Definition at line 85 of file generic_model.cpp.

double articulation_models::GenericModel::getInlierLogLikelihood

(

size_t

index

)

[virtual]

Definition at line 604 of file generic_model.cpp.

double articulation_models::GenericModel::getLogLikelihood

(

bool

estimate_outlier_ratio

)

[virtual]

Definition at line 667 of file generic_model.cpp.

double articulation_models::GenericModel::getLogLikelihoodForPoseIndex

(

size_t

index

)

[virtual]

Definition at line 643 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getMaxConfigurationObserved

(

)

[virtual]

Definition at line 511 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getMinConfigurationObserved

(

)

[virtual]

Definition at line 494 of file generic_model.cpp.

ModelMsg articulation_models::GenericModel::getModel

(

)

[virtual]

Definition at line 62 of file generic_model.cpp.

std::string articulation_models::GenericModel::getModelName

(

)

[virtual]

Definition at line 90 of file generic_model.cpp.

double articulation_models::GenericModel::getOrientationError

(

)

[virtual]

Definition at line 388 of file generic_model.cpp.

double articulation_models::GenericModel::getOutlierLogLikelihood

(

)

[virtual]

Definition at line 626 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		Eigen::MatrixXd &	mat
	)

Definition at line 193 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		Eigen::VectorXd &	vec
	)

Definition at line 167 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		btTransform &	t
	)

Definition at line 185 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		btQuaternion &	quat
	)

Definition at line 178 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		btVector3 &	vec
	)

Definition at line 172 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		double &	data
	)

Definition at line 162 of file generic_model.cpp.

double articulation_models::GenericModel::getParam

(

std::string

name

)

Definition at line 152 of file generic_model.cpp.

double articulation_models::GenericModel::getPositionError

(

)

[virtual]

Definition at line 384 of file generic_model.cpp.

size_t articulation_models::GenericModel::getSamples

(

)

[virtual]

Definition at line 98 of file generic_model.cpp.

TrackMsg articulation_models::GenericModel::getTrack

(

)

[virtual]

Definition at line 77 of file generic_model.cpp.

bool articulation_models::GenericModel::guessParameters

(

)

[virtual]

Reimplemented in articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 711 of file generic_model.cpp.

bool articulation_models::GenericModel::hasParam

(

std::string

name

)

Definition at line 242 of file generic_model.cpp.

void articulation_models::GenericModel::keepLatestPoseOnly

(

)

[virtual]

Definition at line 593 of file generic_model.cpp.

bool articulation_models::GenericModel::normalizeParameters

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, and articulation_models::RotationalModel.

Definition at line 876 of file generic_model.cpp.

int articulation_models::GenericModel::openChannel	(	std::string	name,
		bool	autocreate = true
	)			[virtual]

Definition at line 251 of file generic_model.cpp.

bool articulation_models::GenericModel::optimizeParameters

(

)

[virtual]

Definition at line 790 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::predictConfiguration

(

geometry_msgs::Pose

pose

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, and articulation_models::RotationalModel.

Definition at line 486 of file generic_model.cpp.

M_CartesianJacobian articulation_models::GenericModel::predictHessian	(	V_Configuration	q,
		double	delta = 1e-6
	)			[virtual]

Reimplemented in articulation_models::PrismaticModel.

Definition at line 415 of file generic_model.cpp.

M_CartesianJacobian articulation_models::GenericModel::predictJacobian	(	V_Configuration	q,
		double	delta = 1e-6
	)			[virtual]

Definition at line 403 of file generic_model.cpp.

geometry_msgs::Pose articulation_models::GenericModel::predictPose

(

V_Configuration

q

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 397 of file generic_model.cpp.

void articulation_models::GenericModel::prepareChannels

(

)

[virtual]

Definition at line 141 of file generic_model.cpp.

void articulation_models::GenericModel::projectConfigurationToJacobian

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 547 of file generic_model.cpp.

void articulation_models::GenericModel::projectConfigurationToPose

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 538 of file generic_model.cpp.

void articulation_models::GenericModel::projectPoseToConfiguration

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 529 of file generic_model.cpp.

void articulation_models::GenericModel::readParamsFromModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 103 of file generic_model.cpp.

void articulation_models::GenericModel::sampleConfigurationSpace

(

double

resolution

)

[virtual]

Definition at line 556 of file generic_model.cpp.

bool articulation_models::GenericModel::sampleConsensus

(

)

[virtual]

Definition at line 716 of file generic_model.cpp.

void articulation_models::GenericModel::setConfiguration	(	size_t	index,
		V_Configuration	q
	)			[virtual]

Definition at line 442 of file generic_model.cpp.

void articulation_models::GenericModel::setId

(

int

id

)

Definition at line 81 of file generic_model.cpp.

void articulation_models::GenericModel::setJacobian	(	size_t	index,
		M_CartesianJacobian	J
	)			[virtual]

Definition at line 457 of file generic_model.cpp.

virtual void articulation_models::GenericModel::setModel

(

const articulation_msgs::ModelMsg &

model

)

[virtual]

void articulation_models::GenericModel::setParam	(	std::string	name,
		const Eigen::MatrixXd &	mat,
		int	type
	)

Definition at line 236 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		const Eigen::VectorXd &	vec,
		int	type
	)

Definition at line 213 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		const btTransform &	t,
		int	type
	)

Definition at line 231 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		const btQuaternion &	quat,
		int	type
	)

Definition at line 224 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		const btVector3 &	vec,
		int	type
	)

Definition at line 218 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		double	value,
		int	type
	)

Definition at line 199 of file generic_model.cpp.

virtual void articulation_models::GenericModel::setTrack

(

const articulation_msgs::TrackMsg &

track

)

[virtual]

void articulation_models::GenericModel::updateParameters

(

std::vector< double >

delta

)

[virtual]

Reimplemented in articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 873 of file generic_model.cpp.

void articulation_models::GenericModel::writeParamsToModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel, articulation_models::PrismaticModel, articulation_models::RigidModel, and articulation_models::RotationalModel.

Definition at line 121 of file generic_model.cpp.

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Member Data Documentation

double articulation_models::GenericModel::avg_error_orientation

Definition at line 32 of file generic_model.h.

double articulation_models::GenericModel::avg_error_position

Definition at line 31 of file generic_model.h.

double articulation_models::GenericModel::bic

Definition at line 34 of file generic_model.h.

std::vector<int> articulation_models::GenericModel::channelConfiguration

Definition at line 46 of file generic_model.h.

int articulation_models::GenericModel::channelInlierLogLikelihood

Definition at line 45 of file generic_model.h.

int articulation_models::GenericModel::channelLogLikelihood

Definition at line 44 of file generic_model.h.

int articulation_models::GenericModel::channelOutlier

Definition at line 43 of file generic_model.h.

double articulation_models::GenericModel::complexity

Definition at line 30 of file generic_model.h.

double articulation_models::GenericModel::evaluated

Definition at line 41 of file generic_model.h.

Eigen::MatrixXd articulation_models::GenericModel::hessian

Definition at line 37 of file generic_model.h.

Eigen::MatrixXd articulation_models::GenericModel::jacobian

Definition at line 36 of file generic_model.h.

double articulation_models::GenericModel::last_error_jacobian

Definition at line 39 of file generic_model.h.

double articulation_models::GenericModel::loglikelihood

Definition at line 33 of file generic_model.h.

articulation_msgs::ModelMsg articulation_models::GenericModel::model

Definition at line 48 of file generic_model.h.

double articulation_models::GenericModel::optimizer_iterations

Definition at line 27 of file generic_model.h.

double articulation_models::GenericModel::outlier_ratio

Definition at line 25 of file generic_model.h.

std::vector<articulation_msgs::ParamMsg> articulation_models::GenericModel::params_initial

Definition at line 118 of file generic_model.h.

double articulation_models::GenericModel::prior_outlier_ratio

Definition at line 35 of file generic_model.h.

double articulation_models::GenericModel::sac_iterations

Definition at line 26 of file generic_model.h.

double articulation_models::GenericModel::sigma_orientation

Definition at line 23 of file generic_model.h.

double articulation_models::GenericModel::sigma_position

Definition at line 22 of file generic_model.h.

double articulation_models::GenericModel::supress_similar

Definition at line 24 of file generic_model.h.

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The documentation for this class was generated from the following files:

• generic_model.h
• generic_model.cpp