mhf::WorldModelROS Class Reference

#include <WorldModelROS.h>

List of all members.

Public Member Functions
const std::list < SemanticObject * > &	getMAPObjects () const
void	processEvidence (const ros::Duration max_duration)
void	processEvidence (const wire_msgs::WorldEvidence &world_evidence_msg)
void	publish () const
void	registerEvidenceTopic (const std::string &topic_name)
void	showStatistics () const
void	start ()
void	startThreaded ()
	WorldModelROS (tf::TransformListener *tf_listener=0)
virtual	~WorldModelROS ()
Protected Member Functions
void	evidenceCallback (const wire_msgs::WorldEvidence::ConstPtr &world_evidence_msg)
bool	hypothesisToMsg (const mhf::Hypothesis &hyp, wire_msgs::WorldState &msg) const
bool	initialize ()
void	initializeMHF ()
bool	objectToMsg (const SemanticObject &obj, wire_msgs::ObjectState &msg) const
void	printWorldObjects (const mhf::Hypothesis &hyp) const
bool	resetWorldModel (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	shutdown ()
bool	transformOrientation (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const
bool	transformPosition (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const
Protected Attributes
std::list < wire_msgs::WorldEvidence >	evidence_buffer_
bool	is_tf_owner_
ros::Time	last_update_
double	last_update_duration
double	loop_rate_
int	max_num_hyps_
double	max_update_duration
double	min_prob_ratio_
std::string	output_frame_id_
boost::thread	processing_thread_
ros::Publisher	pub_wm_
ros::ServiceServer	srv_reset_
std::list< ros::Subscriber >	subs_evidence_
tf::TransformListener *	tf_listener_
std::stringstream	warnings_
mhf::HypothesisTree *	world_model_
std::string	world_model_frame_id_

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Detailed Description

Definition at line 34 of file WorldModelROS.h.

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Constructor & Destructor Documentation

WorldModelROS::WorldModelROS

(

tf::TransformListener *

tf_listener = 0

)

Definition at line 18 of file WorldModelROS.cpp.

WorldModelROS::~WorldModelROS

(

)

[virtual]

Definition at line 25 of file WorldModelROS.cpp.

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Member Function Documentation

void WorldModelROS::evidenceCallback

(

const wire_msgs::WorldEvidence::ConstPtr &

world_evidence_msg

)

[protected]

Definition at line 210 of file WorldModelROS.cpp.

const list< SemanticObject * > & WorldModelROS::getMAPObjects

(

)

const

Definition at line 317 of file WorldModelROS.cpp.

bool WorldModelROS::hypothesisToMsg	(	const mhf::Hypothesis &	hyp,
		wire_msgs::WorldState &	msg
	)		const [protected]

Definition at line 131 of file WorldModelROS.cpp.

bool WorldModelROS::initialize

(

)

[protected]

Definition at line 41 of file WorldModelROS.cpp.

void mhf::WorldModelROS::initializeMHF

(

)

[protected]

bool WorldModelROS::objectToMsg	(	const SemanticObject &	obj,
		wire_msgs::ObjectState &	msg
	)		const [protected]

Definition at line 114 of file WorldModelROS.cpp.

void mhf::WorldModelROS::printWorldObjects

(

const mhf::Hypothesis &

hyp

)

const [protected]

void WorldModelROS::processEvidence

(

const ros::Duration

max_duration

)

Definition at line 214 of file WorldModelROS.cpp.

void WorldModelROS::processEvidence

(

const wire_msgs::WorldEvidence &

world_evidence_msg

)

Definition at line 231 of file WorldModelROS.cpp.

void WorldModelROS::publish

(

)

const

Definition at line 308 of file WorldModelROS.cpp.

void WorldModelROS::registerEvidenceTopic

(

const std::string &

topic_name

)

Definition at line 86 of file WorldModelROS.cpp.

bool WorldModelROS::resetWorldModel	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[protected]

Definition at line 302 of file WorldModelROS.cpp.

void WorldModelROS::showStatistics

(

)

const

Definition at line 321 of file WorldModelROS.cpp.

void mhf::WorldModelROS::shutdown

(

)

[protected]

void WorldModelROS::start

(

)

Definition at line 95 of file WorldModelROS.cpp.

void WorldModelROS::startThreaded

(

)

Definition at line 91 of file WorldModelROS.cpp.

bool WorldModelROS::transformOrientation	(	const pbl::PDF &	pdf_in,
		const std::string &	frame_in,
		pbl::Gaussian &	pdf_out
	)		const [protected]

Definition at line 182 of file WorldModelROS.cpp.

bool WorldModelROS::transformPosition	(	const pbl::PDF &	pdf_in,
		const std::string &	frame_in,
		pbl::Gaussian &	pdf_out
	)		const [protected]

Definition at line 154 of file WorldModelROS.cpp.

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Member Data Documentation

std::list<wire_msgs::WorldEvidence> mhf::WorldModelROS::evidence_buffer_ [protected]

Definition at line 65 of file WorldModelROS.h.

bool mhf::WorldModelROS::is_tf_owner_ [protected]

Definition at line 72 of file WorldModelROS.h.

ros::Time mhf::WorldModelROS::last_update_ [protected]

Definition at line 98 of file WorldModelROS.h.

double mhf::WorldModelROS::last_update_duration [protected]

Definition at line 83 of file WorldModelROS.h.

double mhf::WorldModelROS::loop_rate_ [protected]

Definition at line 62 of file WorldModelROS.h.

int mhf::WorldModelROS::max_num_hyps_ [protected]

Definition at line 94 of file WorldModelROS.h.

double mhf::WorldModelROS::max_update_duration [protected]

Definition at line 84 of file WorldModelROS.h.

double mhf::WorldModelROS::min_prob_ratio_ [protected]

Definition at line 96 of file WorldModelROS.h.

std::string mhf::WorldModelROS::output_frame_id_ [protected]

Definition at line 90 of file WorldModelROS.h.

boost::thread mhf::WorldModelROS::processing_thread_ [protected]

Definition at line 60 of file WorldModelROS.h.

ros::Publisher mhf::WorldModelROS::pub_wm_ [protected]

Definition at line 75 of file WorldModelROS.h.

ros::ServiceServer mhf::WorldModelROS::srv_reset_ [protected]

Definition at line 80 of file WorldModelROS.h.

std::list<ros::Subscriber> mhf::WorldModelROS::subs_evidence_ [protected]

Definition at line 78 of file WorldModelROS.h.

tf::TransformListener* mhf::WorldModelROS::tf_listener_ [protected]

Definition at line 71 of file WorldModelROS.h.

std::stringstream mhf::WorldModelROS::warnings_ [protected]

Definition at line 92 of file WorldModelROS.h.

mhf::HypothesisTree* mhf::WorldModelROS::world_model_ [protected]

Definition at line 68 of file WorldModelROS.h.

std::string mhf::WorldModelROS::world_model_frame_id_ [protected]

Definition at line 87 of file WorldModelROS.h.

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

• WorldModelROS.h
• WorldModelROS.cpp