Class FeatureTracker

Defined in File feature_tracker.hpp

Inheritance Relationships

Base Type

public std::enable_shared_from_this< FeatureTracker >

Derived Types

public hri::Body (Class Body)
public hri::Face (Class Face)
public hri::Person (Class Person)
public hri::Voice (Class Voice)

Class Documentation

class FeatureTracker : public std::enable_shared_from_this<FeatureTracker>

Subclassed by hri::Body, hri::Face, hri::Person, hri::Voice

Public Functions

explicit FeatureTracker(ID id, std::string feature_ns, std::string feature_tf_prefix, NodeInterfaces node_interfaces, rclcpp::CallbackGroup::SharedPtr callback_group, const tf2::BufferCore &tf_buffer, const std::string &reference_frame)

Creates a new feature tracker (eg, a face, body or voice tracker).

This constructor should not be called directly. Instead, use one of the specialization: hri::Face, hri::Body, hri::Voice.

Note however that instances would normally be automatically created, and accessed via the methods exposed by hri::HRIListener.

Note that the resulting instance is non-copyable, as it includes non-trivial, and typically non-reentrant, logic to subscribe/unsubscribe HRI-related topics.

virtual ~FeatureTracker() = default

FeatureTracker(const FeatureTracker&) = delete

inline ID id() const

Returns the unique ID of this feature.

:see: FeatureTracker::getNamespace, to access the fully-qualified topic namespace under which this feature is published.

inline std::string ns() const: Returns the topic namespace under which this feature is advertised.

inline std::string frame() const: Returns the name of the tf frame that correspond to this feature.

inline bool valid() const

Returns whether the feature is still ‘valid’, i.e., existing.

If not, then the feature is not functional, all the optional members will be reset and the topic subsciptions terminated.

inline virtual std::optional<geometry_msgs::msg::TransformStamped> transform() const: Returns the estimated (stamped) 3D transform of self (if available).

inline bool operator<(const FeatureTracker &other) const

Protected Functions

std::optional<geometry_msgs::msg::TransformStamped> transformFromReference(std::string frame_name) const: Returns the estimated (stamped) 3D transform of the argument frame (if available).

inline void invalidate(): Makes the feature ‘invalid’, i.e., not existing anymore.

Protected Attributes

const ID kId_

const std::string kNs_

const std::string kFrame_

NodeInterfaces node_interfaces_

rclcpp::CallbackGroup::SharedPtr callback_group_

const tf2::BufferCore &tf_buffer_

const std::string &reference_frame_

bool valid_