#include <ajockey.h>

Inheritance diagram for featurenav_base::AJockey:

Public Member Functions
	AJockey (const std::string &name, const std::string &segment_interface_name, const std::string &segment_setter_name)
void	setDescriptorMatcherFunction (descriptor_matcher_function_ptr f)
void	setExtractFeaturesFunction (feature_extractor_function_ptr f)
Public Attributes
can_do_function_ptr	canDo
start_do_function_ptr	startDo
Private Member Functions
void	callback_image (const sensor_msgs::ImageConstPtr &msg)
void	callback_odom (const nav_msgs::OdometryConstPtr &msg)
double	distance_from_start ()
virtual void	onContinue ()
virtual void	onInterrupt ()
virtual void	onLearn ()
virtual void	onStop ()
size_t	processImage (const sensor_msgs::ImageConstPtr &image)
void	reset ()
lama_msgs::DescriptorLink	segmentDescriptorLink (const int32_t id)
Private Attributes
feature_extractor_function_ptr	extract_features_
bool	has_odom_
image_transport::Subscriber	image_handler_
bool	image_processing_running_
	true when treating an image.
image_transport::ImageTransport	it_
std::vector< PotentialLandmark >	landmarks_
	Potential landmarks (features seen once).
descriptor_matcher_function_ptr	match_descriptors_
double	matcher_max_relative_distance_
double	max_segment_length_
double	min_landmark_dist_
	A landmark is saved if it was visible on at least such a traveled distance.
nav_msgs::Odometry	odom_
	Last received odometry message.
ros::Subscriber	odom_handler_
Segment	segment_
std::string	segment_interface_name_
	Name of the map interface for segments.
std::string	segment_setter_name_
	Name of the service to write segments into the map.
ros::ServiceClient	segment_setter_proxy_
geometry_msgs::Pose	start_pose_
	Pose when learning started.
Static Private Attributes
static const ros::Duration	max_landmark_age_ = ros::Duration(2.0)
static const ros::Duration	max_odom_age_ = ros::Duration(0.5)

Detailed Description

Definition at line 77 of file ajockey.h.

Constructor & Destructor Documentation

featurenav_base::AJockey::AJockey	(	const std::string &	name,
		const std::string &	segment_interface_name,
		const std::string &	segment_setter_name
	)

Definition at line 9 of file ajockey.cpp.

Member Function Documentation

void featurenav_base::AJockey::callback_image ( const sensor_msgs::ImageConstPtr & msg ) [private]

Definition at line 195 of file ajockey.cpp.

void featurenav_base::AJockey::callback_odom ( const nav_msgs::OdometryConstPtr & msg ) [private]

Definition at line 215 of file ajockey.cpp.

double featurenav_base::AJockey::distance_from_start ( ) [inline, private]

Return the distance since we started learning.

Definition at line 101 of file ajockey.h.

void featurenav_base::AJockey::onContinue ( ) [private, virtual]

Reimplemented from lama_jockeys::LearningJockey.

Definition at line 191 of file ajockey.cpp.

void featurenav_base::AJockey::onInterrupt ( ) [private, virtual]

Reimplemented from lama_jockeys::LearningJockey.

Definition at line 185 of file ajockey.cpp.

void featurenav_base::AJockey::onLearn ( ) [private, virtual]

Implements lama_jockeys::LearningJockey.

Definition at line 44 of file ajockey.cpp.

void featurenav_base::AJockey::onStop ( ) [private, virtual]

Implements lama_jockeys::LearningJockey.

Definition at line 126 of file ajockey.cpp.

size_t featurenav_base::AJockey::processImage ( const sensor_msgs::ImageConstPtr & image ) [private]

Process an image and return the number of tracked features.

Return the number of potential features.

image[in] ROS image message. d[in] distance from the segment start in meters.

Definition at line 233 of file ajockey.cpp.

void featurenav_base::AJockey::reset ( ) [private]

Definition at line 35 of file ajockey.cpp.

lama_msgs::DescriptorLink featurenav_base::AJockey::segmentDescriptorLink ( const int32_t id ) [inline, private]

Return a DescriptorLink with the given id

Definition at line 114 of file ajockey.h.

void featurenav_base::AJockey::setDescriptorMatcherFunction ( descriptor_matcher_function_ptr f ) [inline]

Definition at line 84 of file ajockey.h.

void featurenav_base::AJockey::setExtractFeaturesFunction ( feature_extractor_function_ptr f ) [inline]

Definition at line 83 of file ajockey.h.

Member Data Documentation

can_do_function_ptr featurenav_base::AJockey::canDo

Definition at line 86 of file ajockey.h.

feature_extractor_function_ptr featurenav_base::AJockey::extract_features_ [private]

Definition at line 148 of file ajockey.h.

bool featurenav_base::AJockey::has_odom_ [private]

Definition at line 151 of file ajockey.h.

image_transport::Subscriber featurenav_base::AJockey::image_handler_ [private]

Definition at line 127 of file ajockey.h.

bool featurenav_base::AJockey::image_processing_running_ [private]

true when treating an image.

Definition at line 152 of file ajockey.h.

image_transport::ImageTransport featurenav_base::AJockey::it_ [private]

Definition at line 126 of file ajockey.h.

std::vector<PotentialLandmark> featurenav_base::AJockey::landmarks_ [private]

Potential landmarks (features seen once).

Definition at line 155 of file ajockey.h.

descriptor_matcher_function_ptr featurenav_base::AJockey::match_descriptors_ [private]

Definition at line 149 of file ajockey.h.

double featurenav_base::AJockey::matcher_max_relative_distance_ [private]

A potential descriptor is visible in the new image if the distance to the best-match descriptor is smaller than the distance to the second best match multiplied by this factor.

Definition at line 134 of file ajockey.h.

const ros::Duration featurenav_base::AJockey::max_landmark_age_ = ros::Duration(2.0) [static, private]

Definition at line 143 of file ajockey.h.

const ros::Duration featurenav_base::AJockey::max_odom_age_ = ros::Duration(0.5) [static, private]

Definition at line 142 of file ajockey.h.

double featurenav_base::AJockey::max_segment_length_ [private]

The jockey will successfully end the action if the traveled distance is at least this. Defaults to 0, which means that the START action never finishes.

Definition at line 138 of file ajockey.h.

double featurenav_base::AJockey::min_landmark_dist_ [private]

A landmark is saved if it was visible on at least such a traveled distance.

Definition at line 137 of file ajockey.h.

nav_msgs::Odometry featurenav_base::AJockey::odom_ [private]

Last received odometry message.

Definition at line 150 of file ajockey.h.

ros::Subscriber featurenav_base::AJockey::odom_handler_ [private]

Definition at line 128 of file ajockey.h.

Segment featurenav_base::AJockey::segment_ [private]

Definition at line 154 of file ajockey.h.

std::string featurenav_base::AJockey::segment_interface_name_ [private]