IRI ROS Specific Driver Class. More...

#include <ellipses_representation.h>

Public Types
typedef iri_clean_board::CleaningPlanConfig	Config
	define config type
Public Member Functions
std::vector < estirabot_msgs::DirtyArea >	calculateRosDirtyAreas (std::vector< cv::RotatedRect > ellipses)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	createNewState (cv::Mat image)
	Creates a new state from a image.
std::vector < estirabot_msgs::PointsDistanceMsg >	distancesBetweenEllipses (std::vector< estirabot_msgs::DirtyArea > dirty_areas)
	Gets the distane between ellipses.
void	drawPoints (std::vector< cv::Point2f > img_coords)
	Draws target points.
	EllipsesRepresentation (void)
	constructor
std::vector< cv::RotatedRect >	getCurrentEllipses ()
	Gets current ellipses.
cv::RotatedRect	getEllipseFromRosDirtyAreas (std::vector< estirabot_msgs::DirtyArea > dirty_areas, int idx)
	Gets ellipse corresponding to index in dirty areas vector.
std::vector< double >	getEllipsesAreas ()
	Gets ellipses' areas.
std::vector< double >	getEllipsesMaxWidths ()
	Gets ellipses' max widths.
std::vector< double >	getEllipsesMinWidths ()
	Gets ellipses min widths.
size_t	getEllipsesNumber ()
	Gets ellipses' size.
std::vector < estirabot_msgs::Ellipse >	getEllipsesRosMsg ()
	Gets current ellipses.
std::vector< uint8_t >	getEllipsesSparse ()
	Gets if ellipses are sparse.
double	getEllipsesSummedAreas ()
	Gets ellipses' areas.
std::vector< size_t >	getGoodPathThroughAllDirtyAreas (std::vector< estirabot_msgs::DirtyArea > dirty_areas)
std::vector< size_t >	getGoodPathThroughAllEllipses (size_t init_ellipse)
	Gets a path that goes through all ellipses.
int32_t	getNearestEllipse ()
	Get nearest ellipse to current position.
std::vector < estirabot_msgs::DirtyArea >	getRosDirtyAreas ()
	Gets ros msg dirty areas from ellipses.
std::string	getStateString (const std::vector< estirabot_msgs::DirtyArea > dirty_areas)
	Get state as a string.
std::string	getStateStringOrdered (const std::vector< estirabot_msgs::DirtyArea > dirty_areas)
std::vector < estirabot_msgs::TraversedEllipses >	getTraversedEllipses (std::vector< estirabot_msgs::DirtyArea > dirty_areas)
	Gets traversed ellipses in a movement between ellipses.
std::vector< cv::RotatedRect >	loadEllipsesFromRosMsg (std::vector< estirabot_msgs::Ellipse > ellipses_msg)
	Load ellipses from ros msg.
std::vector< cv::RotatedRect >	loadEllipsesFromRosMsg (std::vector< estirabot_msgs::DirtyArea > dirty_areas_msg)
void	lock (void)
	Lock Algorithm.
std::vector < estirabot_msgs::DirtyArea >	orderDirtyAreas (const std::vector< estirabot_msgs::DirtyArea > dirty_areas, const std::vector< estirabot_msgs::DirtyArea > previous_dirty_areas)
bool	pointIsBetween (cv::Point2f p1, cv::Point2f p2, cv::Point2f point)
bool	pointIsBetween (iri_perception_msgs::ImagePoint new_p1, iri_perception_msgs::ImagePoint new_p2, iri_perception_msgs::ImagePoint new_point)
bool	pointIsBetween (iri_perception_msgs::ImagePoint new_p1, cv::Point2f p2, iri_perception_msgs::ImagePoint new_point)
cv::RotatedRect	rosEllipseToRotatedRect (estirabot_msgs::Ellipse ellipse_msg)
	Rosmsg Ellipse to Opencv RotatedRect.
estirabot_msgs::Ellipse	rotatedRectToRosEllipse (cv::RotatedRect ellipse)
	Opencv RotatedRect to rosmsg Ellipse.
void	truncateEllipsesNumber ()
	Truncates the number of ellipses.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
void	writeStateToFile (std::string path, std::vector< estirabot_msgs::DirtyArea > dirty_areas)
	Write current state to file.
	~EllipsesRepresentation (void)
	Destructor.
Public Attributes
Config	config_
	config variable
cv::Point2f	currentArmPosition
	Position of the robot arm.
cv::Mat	show_image
cv::Mat	state_image
Protected Member Functions
void	clearLastEllipses ()
	Clear data from previous stamps.
void	computeBoundingEllipses (cv::Mat image)
	Separates occupied regions in ellipses.
std::string	dirtyAreasDistancesToString (std::vector< estirabot_msgs::PointsDistanceMsg > distances)
std::string	dirtyAreaToString (estirabot_msgs::DirtyArea dirty_area, int idx)
bool	divideBigEllipse (cv::Mat image, cv::Mat ellipseMask, cv::RotatedRect currentEllipse)
	Divides a big sparse ellipse in smaller ellipses.
double	getDistance (cv::Point2f p1, cv::Point2f p2)
double	getDistance (iri_perception_msgs::ImagePoint p1, iri_perception_msgs::ImagePoint p2)
void	setSourceImage (cv::Mat image)
	Set images used to get state and display visual info.
std::string	traversedEllipsesToString (std::vector< estirabot_msgs::TraversedEllipses > traversed_ellipses)
Protected Attributes
CMutex	alg_mutex_
	define config type
bool	board_plan
std::vector < estirabot_msgs::DirtyArea >	dirtyAreas_
std::vector< double >	ellipsesArea
std::vector< double >	ellipsesMaxWidths
std::vector< double >	ellipsesMinWidths
std::vector< uint8_t >	ellipsesSparse
std::vector< cv::RotatedRect >	imageEllipses
int	initial_state_idx
bool	is_learning
bool	is_planning
uint32_t	max_number_ellipses
double	max_width_threshold
double	medium_area_threshold
double	min_width_threshold
double	minAreaThreshold
double	minFillThreshold
double	near_distance_threshold
double	small_area_threshold
uint32_t	small_objects_join_distance
Static Protected Attributes
static const int	IMAGE_HEIGHT = 480
static const int	IMAGE_WIDTH = 640

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 95 of file ellipses_representation.h.

Member Typedef Documentation

typedef iri_clean_board::CleaningPlanConfig EllipsesRepresentation::Config

define config type

Define a Config type with the CleaningPlanConfig. All driver implementations will then use the same variable type Config.

Definition at line 197 of file ellipses_representation.h.

Constructor & Destructor Documentation

EllipsesRepresentation::EllipsesRepresentation ( void )

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.

Definition at line 7 of file ellipses_representation.cpp.

EllipsesRepresentation::~EllipsesRepresentation ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 14 of file ellipses_representation.cpp.

Member Function Documentation

std::vector< estirabot_msgs::DirtyArea > EllipsesRepresentation::calculateRosDirtyAreas ( std::vector< cv::RotatedRect > ellipses )

Definition at line 565 of file ellipses_representation.cpp.

void EllipsesRepresentation::clearLastEllipses ( ) [protected]

Clear data from previous stamps.

Clear vectors saving ellipses of previous perceptions

Definition at line 211 of file ellipses_representation.cpp.

void EllipsesRepresentation::computeBoundingEllipses ( cv::Mat image ) [protected]

Separates occupied regions in ellipses.

Separates occupied regions in ellipses

Definition at line 135 of file ellipses_representation.cpp.

void EllipsesRepresentation::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

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.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 18 of file ellipses_representation.cpp.

void EllipsesRepresentation::createNewState ( cv::Mat image )

Creates a new state from a image.

Clears last state, sets new images, and obtains updated ellipses

Definition at line 50 of file ellipses_representation.cpp.

std::string EllipsesRepresentation::dirtyAreasDistancesToString ( std::vector< estirabot_msgs::PointsDistanceMsg > distances ) [protected]

Definition at line 665 of file ellipses_representation.cpp.

std::string EllipsesRepresentation::dirtyAreaToString	(	estirabot_msgs::DirtyArea	dirty_area,
		int	idx
	)		`[protected]`

Definition at line 612 of file ellipses_representation.cpp.

std::vector< estirabot_msgs::PointsDistanceMsg > EllipsesRepresentation::distancesBetweenEllipses ( std::vector< estirabot_msgs::DirtyArea > dirty_areas )

Gets the distane between ellipses.

Gets the distance between ellipses Information needed by PRADA Planner

Definition at line 273 of file ellipses_representation.cpp.

bool EllipsesRepresentation::divideBigEllipse	(	cv::Mat	image,
		cv::Mat	ellipseMask,
		cv::RotatedRect	currentEllipse
	)		`[protected]`

Divides a big sparse ellipse in smaller ellipses.

Divides a big sparse ellipse in smaller ellipses

Definition at line 72 of file ellipses_representation.cpp.

void EllipsesRepresentation::drawPoints ( std::vector< cv::Point2f > img_coords )

Draws target points.

Draws target points Only useful for DEBUGGING

Method only for debugging

Definition at line 405 of file ellipses_representation.cpp.

std::vector<cv::RotatedRect> EllipsesRepresentation::getCurrentEllipses ( ) [inline]

Gets current ellipses.

Definition at line 385 of file ellipses_representation.h.

double EllipsesRepresentation::getDistance	(	cv::Point2f	p1,
		cv::Point2f	p2
	)		`[inline, protected]`

Definition at line 141 of file ellipses_representation.h.

double EllipsesRepresentation::getDistance	(	iri_perception_msgs::ImagePoint	p1,
		iri_perception_msgs::ImagePoint	p2
	)		`[inline, protected]`

Definition at line 146 of file ellipses_representation.h.

cv::RotatedRect EllipsesRepresentation::getEllipseFromRosDirtyAreas	(	std::vector< estirabot_msgs::DirtyArea >	dirty_areas,
		int	idx
	)

Gets ellipse corresponding to index in dirty areas vector.

Gets ellipse corresponding to index idx in dirty_areas vector

Definition at line 545 of file ellipses_representation.cpp.

std::vector<double> EllipsesRepresentation::getEllipsesAreas ( ) [inline]

Gets ellipses' areas.

Definition at line 411 of file ellipses_representation.h.

std::vector<double> EllipsesRepresentation::getEllipsesMaxWidths ( ) [inline]

Gets ellipses' max widths.

Definition at line 406 of file ellipses_representation.h.

std::vector<double> EllipsesRepresentation::getEllipsesMinWidths ( ) [inline]

Gets ellipses min widths.

Definition at line 401 of file ellipses_representation.h.

size_t EllipsesRepresentation::getEllipsesNumber ( ) [inline]

Gets ellipses' size.

Definition at line 438 of file ellipses_representation.h.

std::vector<estirabot_msgs::Ellipse> EllipsesRepresentation::getEllipsesRosMsg ( ) [inline]

Gets current ellipses.

Definition at line 372 of file ellipses_representation.h.

std::vector< uint8_t > EllipsesRepresentation::getEllipsesSparse ( ) [inline]

Gets if ellipses are sparse.

Definition at line 433 of file ellipses_representation.h.

double EllipsesRepresentation::getEllipsesSummedAreas ( ) [inline]

Gets ellipses' areas.

Definition at line 422 of file ellipses_representation.h.

std::vector< size_t > EllipsesRepresentation::getGoodPathThroughAllDirtyAreas ( std::vector< estirabot_msgs::DirtyArea > dirty_areas )

Definition at line 484 of file ellipses_representation.cpp.

std::vector< size_t > EllipsesRepresentation::getGoodPathThroughAllEllipses ( size_t init_ellipse )

Gets a path that goes through all ellipses.

Tries to get a small distance

Definition at line 446 of file ellipses_representation.cpp.

int32_t EllipsesRepresentation::getNearestEllipse ( )

Get nearest ellipse to current position.

Get nearest ellipse to current position

Definition at line 386 of file ellipses_representation.cpp.

std::vector< estirabot_msgs::DirtyArea > EllipsesRepresentation::getRosDirtyAreas ( )

Gets ros msg dirty areas from ellipses.

Definition at line 560 of file ellipses_representation.cpp.

std::string EllipsesRepresentation::getStateString ( const std::vector< estirabot_msgs::DirtyArea > dirty_areas )

Get state as a string.

Gets a string with the literals representing the states

Definition at line 702 of file ellipses_representation.cpp.

std::string EllipsesRepresentation::getStateStringOrdered ( const std::vector< estirabot_msgs::DirtyArea > dirty_areas )

Definition at line 679 of file ellipses_representation.cpp.

std::vector< estirabot_msgs::TraversedEllipses > EllipsesRepresentation::getTraversedEllipses ( std::vector< estirabot_msgs::DirtyArea > dirty_areas )

Gets traversed ellipses in a movement between ellipses.

Gets traversed ellipses in a movement between ellipses Information needed by PRADA Planner

Definition at line 344 of file ellipses_representation.cpp.

std::vector< cv::RotatedRect > EllipsesRepresentation::loadEllipsesFromRosMsg ( std::vector< estirabot_msgs::Ellipse > ellipses_msg )

Load ellipses from ros msg.

Load ellipses from ros msg to a vector<RotatedRect>

std::vector< cv::RotatedRect > EllipsesRepresentation::loadEllipsesFromRosMsg ( std::vector< estirabot_msgs::DirtyArea > dirty_areas_msg )

Definition at line 533 of file ellipses_representation.cpp.

void EllipsesRepresentation::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 222 of file ellipses_representation.h.

std::vector< estirabot_msgs::DirtyArea > EllipsesRepresentation::orderDirtyAreas	(	const std::vector< estirabot_msgs::DirtyArea >	dirty_areas,
		const std::vector< estirabot_msgs::DirtyArea >	previous_dirty_areas
	)

Definition at line 708 of file ellipses_representation.cpp.

bool EllipsesRepresentation::pointIsBetween	(	cv::Point2f	p1,
		cv::Point2f	p2,
		cv::Point2f	point
	)

Definition at line 310 of file ellipses_representation.cpp.

bool EllipsesRepresentation::pointIsBetween	(	iri_perception_msgs::ImagePoint	new_p1,
		iri_perception_msgs::ImagePoint	new_p2,
		iri_perception_msgs::ImagePoint	new_point
	)