mdm_library::ObservationLayer Class Reference

#include <observation_layer.h>

List of all members.

Public Types
typedef std::pair< size_t, uint32_t >	ObsValuePair
Public Member Functions
void	addObservationFactor (ObservationDep deps)
void	eventMapCallback (const predicate_manager::EventInfoMapConstPtr &msg)
void	eventUpdatesCallback (const predicate_manager::EventUpdateConstPtr &msg)
	ObservationLayer ()
	ObsValuePair = < obs factor index, obs value >
void	observationMetadataCallback (const mdm_library::FactoredSymbolMetadataConstPtr &msg)
Private Member Functions
void	publishJointObservation ()
void	updateWorldSymbol (const uint32_t &factor)
Private Attributes
ros::Subscriber	event_map_sub_
std::map< std::string, ObsValuePair >	event_named_global_observer_
	Observations can also be triggered by global events (i.e. from any agent). In that case, they don't have a fixed NameID.
boost::unordered_map < predicate_manager::NameID, ObsValuePair >	event_named_local_observer_
	Each event may be associated to a single dependent factor.
boost::unordered_map < predicate_manager::NrID, ObsValuePair, predicate_manager::cantor_pair_hash >	event_nr_observer_
ros::Subscriber	event_update_sub_
std::vector< uint32_t >	factored_observations_
std::vector< ObservationDep >	factored_observations_deps_
ros::NodeHandle	nh_
ros::Subscriber	observation_metadata_sub_
ros::Publisher	observation_pub_

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Detailed Description

Definition at line 42 of file observation_layer.h.

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Member Typedef Documentation

typedef std::pair< size_t, uint32_t > mdm_library::ObservationLayer::ObsValuePair

Definition at line 45 of file observation_layer.h.

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Constructor & Destructor Documentation

ObservationLayer::ObservationLayer

(

)

ObsValuePair = < obs factor index, obs value >

Definition at line 38 of file observation_layer.cpp.

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Member Function Documentation

void ObservationLayer::addObservationFactor

(

ObservationDep

deps

)

Definition at line 122 of file observation_layer.cpp.

void ObservationLayer::eventMapCallback

(

const predicate_manager::EventInfoMapConstPtr &

msg

)

Definition at line 74 of file observation_layer.cpp.

void ObservationLayer::eventUpdatesCallback

(

const predicate_manager::EventUpdateConstPtr &

msg

)

Definition at line 49 of file observation_layer.cpp.

void ObservationLayer::observationMetadataCallback

(

const mdm_library::FactoredSymbolMetadataConstPtr &

msg

)

Definition at line 95 of file observation_layer.cpp.

void ObservationLayer::publishJointObservation

(

)

[private]

Definition at line 166 of file observation_layer.cpp.

void mdm_library::ObservationLayer::updateWorldSymbol

(

const uint32_t &

factor

)

[private]

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Member Data Documentation

ros::Subscriber mdm_library::ObservationLayer::event_map_sub_ [private]

Definition at line 65 of file observation_layer.h.

std::map< std::string, ObsValuePair > mdm_library::ObservationLayer::event_named_global_observer_ [private]

Observations can also be triggered by global events (i.e. from any agent). In that case, they don't have a fixed NameID.

Definition at line 74 of file observation_layer.h.

boost::unordered_map< predicate_manager::NameID, ObsValuePair > mdm_library::ObservationLayer::event_named_local_observer_ [private]

Each event may be associated to a single dependent factor.

Definition at line 72 of file observation_layer.h.

boost::unordered_map< predicate_manager::NrID, ObsValuePair, predicate_manager::cantor_pair_hash > mdm_library::ObservationLayer::event_nr_observer_ [private]

Definition at line 78 of file observation_layer.h.

ros::Subscriber mdm_library::ObservationLayer::event_update_sub_ [private]

Definition at line 66 of file observation_layer.h.

std::vector< uint32_t > mdm_library::ObservationLayer::factored_observations_ [private]

Definition at line 81 of file observation_layer.h.

std::vector< ObservationDep > mdm_library::ObservationLayer::factored_observations_deps_ [private]

Definition at line 80 of file observation_layer.h.

ros::NodeHandle mdm_library::ObservationLayer::nh_ [private]

Definition at line 63 of file observation_layer.h.

ros::Subscriber mdm_library::ObservationLayer::observation_metadata_sub_ [private]

Definition at line 68 of file observation_layer.h.

ros::Publisher mdm_library::ObservationLayer::observation_pub_ [private]

Definition at line 69 of file observation_layer.h.

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

• observation_layer.h
• observation_layer.cpp