Public Member Functions | Private Member Functions | Private Attributes
SoftObstacleDetection Class Reference

#include <soft_obstacle_detection.h>

List of all members.

Public Member Functions

 SoftObstacleDetection ()
 ~SoftObstacleDetection ()

Private Member Functions

bool checkFrequencyMatching (const std::vector< double > &edges, const std::vector< double > &centers, double lambda, double min_segments, double max_segments) const
bool checkSegmentsMatching (const std::vector< double > &edges, const std::vector< double > &centers, double veil_segment_size, double min_segments, double max_segments) const
void dynRecParamCallback (SoftObstacleDetectionConfig &config, uint32_t level)
void edgeDetection (const cv::Mat &signal, std::vector< double > &edges, std::vector< double > &centers) const
double evalModel (const std::vector< double > &edges, const std::vector< double > &centers, double lambda) const
void getLine (const cv::Mat &img, const cv::Vec4i &line, cv::Mat &out) const
uchar getMaxAtLine (const cv::Mat &img, const cv::Point &p1, const cv::Point &p2) const
void houghTransform (const cv::Mat &img, std::vector< cv::Vec4i > &lines) const
void laserScanCallback (const sensor_msgs::LaserScanConstPtr &scan)
void lineToPointCloud (const cv::Vec4i &line, const cv::Point2i &scan_center, pcl::PointCloud< pcl::PointXYZ > &out) const
void transformScanToImage (const sensor_msgs::LaserScanConstPtr scan, cv::Mat &img, cv::Point2i &scan_center) const
void update (const ros::TimerEvent &event)

Private Attributes

int border_size
dynamic_reconfigure::Server
< SoftObstacleDetectionConfig > 
dyn_rec_server_
ros::Subscriber laser_scan_sub_
sensor_msgs::LaserScanConstPtr last_scan
double max_curtain_length_sq_
double max_frequency_
double max_frequency_mse_
double max_segment_dist_var_
double max_segment_size_mse_
double max_segment_size_var_
int max_segments_
double min_frequency_
unsigned int min_hole_size_
int min_segments_
std::string percept_class_id_
double size_dist_ratio_
tf::TransformListener tf_listener
double unit_scale
ros::Timer update_timer
ros::Publisher veil_percept_pose_pub_
ros::Publisher veil_percept_pub_
ros::Publisher veil_point_cloud_pub_
double veil_segment_size_

Detailed Description

Definition at line 25 of file soft_obstacle_detection.h.


Constructor & Destructor Documentation

Definition at line 17 of file soft_obstacle_detection.cpp.

Definition at line 38 of file soft_obstacle_detection.cpp.


Member Function Documentation

bool SoftObstacleDetection::checkFrequencyMatching ( const std::vector< double > &  edges,
const std::vector< double > &  centers,
double  lambda,
double  min_segments,
double  max_segments 
) const [private]

Definition at line 309 of file soft_obstacle_detection.cpp.

bool SoftObstacleDetection::checkSegmentsMatching ( const std::vector< double > &  edges,
const std::vector< double > &  centers,
double  veil_segment_size,
double  min_segments,
double  max_segments 
) const [private]

Definition at line 217 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::dynRecParamCallback ( SoftObstacleDetectionConfig &  config,
uint32_t  level 
) [private]

Definition at line 605 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::edgeDetection ( const cv::Mat &  signal,
std::vector< double > &  edges,
std::vector< double > &  centers 
) const [private]

Definition at line 157 of file soft_obstacle_detection.cpp.

double SoftObstacleDetection::evalModel ( const std::vector< double > &  edges,
const std::vector< double > &  centers,
double  lambda 
) const [private]

Definition at line 277 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::getLine ( const cv::Mat &  img,
const cv::Vec4i &  line,
cv::Mat &  out 
) const [private]

Definition at line 132 of file soft_obstacle_detection.cpp.

uchar SoftObstacleDetection::getMaxAtLine ( const cv::Mat &  img,
const cv::Point p1,
const cv::Point p2 
) const [private]

Definition at line 116 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::houghTransform ( const cv::Mat &  img,
std::vector< cv::Vec4i > &  lines 
) const [private]

Definition at line 95 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::laserScanCallback ( const sensor_msgs::LaserScanConstPtr &  scan) [private]

Definition at line 600 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::lineToPointCloud ( const cv::Vec4i &  line,
const cv::Point2i &  scan_center,
pcl::PointCloud< pcl::PointXYZ > &  out 
) const [private]

Definition at line 430 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::transformScanToImage ( const sensor_msgs::LaserScanConstPtr  scan,
cv::Mat &  img,
cv::Point2i &  scan_center 
) const [private]

Definition at line 42 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::update ( const ros::TimerEvent event) [private]

Definition at line 476 of file soft_obstacle_detection.cpp.


Member Data Documentation

Definition at line 56 of file soft_obstacle_detection.h.

dynamic_reconfigure::Server<SoftObstacleDetectionConfig> SoftObstacleDetection::dyn_rec_server_ [private]

Definition at line 68 of file soft_obstacle_detection.h.

Definition at line 61 of file soft_obstacle_detection.h.

sensor_msgs::LaserScanConstPtr SoftObstacleDetection::last_scan [private]

Definition at line 53 of file soft_obstacle_detection.h.

Definition at line 72 of file soft_obstacle_detection.h.

Definition at line 74 of file soft_obstacle_detection.h.

Definition at line 82 of file soft_obstacle_detection.h.

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Definition at line 79 of file soft_obstacle_detection.h.

Definition at line 77 of file soft_obstacle_detection.h.

Definition at line 73 of file soft_obstacle_detection.h.

unsigned int SoftObstacleDetection::min_hole_size_ [private]

Definition at line 71 of file soft_obstacle_detection.h.

Definition at line 76 of file soft_obstacle_detection.h.

Definition at line 83 of file soft_obstacle_detection.h.

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Definition at line 75 of file soft_obstacle_detection.h.


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


hector_soft_obstacle_detection
Author(s): Alexander Stumpf
autogenerated on Wed Sep 16 2015 10:20:00