articulation_models::GenericModel Class Reference

#include <generic_model.h>

Inheritance diagram for articulation_models::GenericModel:

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 ()
double	getParam (std::string name)
void	getParam (std::string name, double &data)
void	getParam (std::string name, tf::Vector3 &vec)
void	getParam (std::string name, tf::Quaternion &quat)
void	getParam (std::string name, tf::Transform &t)
void	getParam (std::string name, Eigen::VectorXd &vec)
void	getParam (std::string name, Eigen::MatrixXd &mat)
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, double value, int type)
void	setParam (std::string name, const tf::Vector3 &vec, int type)
void	setParam (std::string name, const tf::Quaternion &quat, int type)
void	setParam (std::string name, const tf::Transform &t, int type)
void	setParam (std::string name, const Eigen::VectorXd &vec, int type)
void	setParam (std::string name, const Eigen::MatrixXd &mat, 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 30 of file generic_model.cpp.

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Member Function Documentation

double articulation_models::GenericModel::evalLatestJacobian

(

)

[virtual]

Definition at line 345 of file generic_model.cpp.

bool articulation_models::GenericModel::evaluateModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 277 of file generic_model.cpp.

bool articulation_models::GenericModel::fitMinMaxConfigurations

(

)

[virtual]

Definition at line 269 of file generic_model.cpp.

bool articulation_models::GenericModel::fitModel

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 254 of file generic_model.cpp.

double articulation_models::GenericModel::getBIC

(

)

[virtual]

Definition at line 393 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getConfiguration

(

size_t

index

)

[virtual]

Definition at line 470 of file generic_model.cpp.

size_t articulation_models::GenericModel::getDOFs

(

)

[virtual]

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

Definition at line 92 of file generic_model.cpp.

int articulation_models::GenericModel::getId

(

)

Definition at line 83 of file generic_model.cpp.

double articulation_models::GenericModel::getInlierLogLikelihood

(

size_t

index

)

[virtual]

Definition at line 605 of file generic_model.cpp.

double articulation_models::GenericModel::getLogLikelihood

(

bool

estimate_outlier_ratio

)

[virtual]

Definition at line 668 of file generic_model.cpp.

double articulation_models::GenericModel::getLogLikelihoodForPoseIndex

(

size_t

index

)

[virtual]

Definition at line 644 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getMaxConfigurationObserved

(

)

[virtual]

Definition at line 512 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::getMinConfigurationObserved

(

)

[virtual]

Definition at line 495 of file generic_model.cpp.

ModelMsg articulation_models::GenericModel::getModel

(

)

[virtual]

Definition at line 60 of file generic_model.cpp.

std::string articulation_models::GenericModel::getModelName

(

)

[virtual]

Definition at line 88 of file generic_model.cpp.

double articulation_models::GenericModel::getOrientationError

(

)

[virtual]

Definition at line 389 of file generic_model.cpp.

double articulation_models::GenericModel::getOutlierLogLikelihood

(

)

[virtual]

Definition at line 627 of file generic_model.cpp.

double articulation_models::GenericModel::getParam

(

std::string

name

)

Definition at line 150 of file generic_model.cpp.

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

Definition at line 160 of file generic_model.cpp.

void articulation_models::GenericModel::getParam	(	std::string	name,
		tf::Vector3 &	vec
	)

Definition at line 170 of file generic_model.cpp.

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

Definition at line 176 of file generic_model.cpp.

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

Definition at line 183 of file generic_model.cpp.

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

Definition at line 165 of file generic_model.cpp.

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

Definition at line 191 of file generic_model.cpp.

double articulation_models::GenericModel::getPositionError

(

)

[virtual]

Definition at line 385 of file generic_model.cpp.

size_t articulation_models::GenericModel::getSamples

(

)

[virtual]

Definition at line 96 of file generic_model.cpp.

TrackMsg articulation_models::GenericModel::getTrack

(

)

[virtual]

Definition at line 75 of file generic_model.cpp.

bool articulation_models::GenericModel::guessParameters

(

)

[virtual]

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

Definition at line 712 of file generic_model.cpp.

bool articulation_models::GenericModel::hasParam

(

std::string

name

)

Definition at line 240 of file generic_model.cpp.

void articulation_models::GenericModel::keepLatestPoseOnly

(

)

[virtual]

Definition at line 594 of file generic_model.cpp.

bool articulation_models::GenericModel::normalizeParameters

(

)

[virtual]

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

Definition at line 877 of file generic_model.cpp.

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

Definition at line 249 of file generic_model.cpp.

bool articulation_models::GenericModel::optimizeParameters

(

)

[virtual]

Definition at line 791 of file generic_model.cpp.

V_Configuration articulation_models::GenericModel::predictConfiguration

(

geometry_msgs::Pose

pose

)

[virtual]

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

Definition at line 487 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 416 of file generic_model.cpp.

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

Definition at line 404 of file generic_model.cpp.

geometry_msgs::Pose articulation_models::GenericModel::predictPose

(

V_Configuration

q

)

[virtual]

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

Definition at line 398 of file generic_model.cpp.

void articulation_models::GenericModel::prepareChannels

(

)

[virtual]

Definition at line 139 of file generic_model.cpp.

void articulation_models::GenericModel::projectConfigurationToJacobian

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 548 of file generic_model.cpp.

void articulation_models::GenericModel::projectConfigurationToPose

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 539 of file generic_model.cpp.

void articulation_models::GenericModel::projectPoseToConfiguration

(

)

[virtual]

Reimplemented in articulation_models::PCAGPModel.

Definition at line 530 of file generic_model.cpp.

void articulation_models::GenericModel::readParamsFromModel

(

)

[virtual]

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

Definition at line 101 of file generic_model.cpp.

void articulation_models::GenericModel::sampleConfigurationSpace

(

double

resolution

)

[virtual]

Definition at line 557 of file generic_model.cpp.

bool articulation_models::GenericModel::sampleConsensus

(

)

[virtual]

Definition at line 717 of file generic_model.cpp.

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

Definition at line 443 of file generic_model.cpp.

void articulation_models::GenericModel::setId

(

int

id

)

Definition at line 79 of file generic_model.cpp.

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

Definition at line 458 of file generic_model.cpp.

void articulation_models::GenericModel::setModel

(

const articulation_msgs::ModelMsg &

model

)

[virtual]

Definition at line 54 of file generic_model.cpp.

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

Definition at line 197 of file generic_model.cpp.

void articulation_models::GenericModel::setParam	(	std::string	name,
		const tf::Vector3 &	vec,
		int	type
	)

Definition at line 216 of file generic_model.cpp.

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

Definition at line 222 of file generic_model.cpp.

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

Definition at line 229 of file generic_model.cpp.

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

Definition at line 211 of file generic_model.cpp.

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

Definition at line 234 of file generic_model.cpp.

void articulation_models::GenericModel::setTrack

(

const articulation_msgs::TrackMsg &

track

)

[virtual]

Definition at line 70 of file generic_model.cpp.

void articulation_models::GenericModel::updateParameters

(

std::vector< double >

delta

)

[virtual]

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

Definition at line 874 of file generic_model.cpp.

void articulation_models::GenericModel::writeParamsToModel

(

)

[virtual]

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

Definition at line 119 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