#include <njockey.h>

Inheritance diagram for featurenav_base::NJockey:

Public Member Functions
	NJockey (const std::string &name, const std::string &segment_interface_name, const std::string &segment_getter_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)
vector< double >	compute_horizontal_differences (const vector< Landmark > &landmarks, const vector< cv::KeyPoint > &keypoints, const vector< Feature > &descriptors, const double d)
double	distance_from_start ()
virtual void	onContinue ()
virtual void	onInterrupt ()
virtual void	onStop ()
virtual void	onTraverse ()
size_t	processImage (const sensor_msgs::ImageConstPtr &image, double &w)
void	reset ()
bool	retrieveSegment ()
double	saturate (double w) const
vector< Landmark >	select_tracked_landmarks (const double d) const
geometry_msgs::Twist	turnToAngle (const double direction)
Private Attributes
feature_extractor_function_ptr	extract_features_
double	forward_velocity_
	Linear velocity (m/s).
bool	has_odom_
	true after an Odometry message was received.
image_transport::Subscriber	image_handler_
bool	image_processing_running_
	true when treating an image.
image_transport::ImageTransport	it_
double	kp_
descriptor_matcher_function_ptr	match_descriptors_
double	matcher_max_relative_distance_
	> Proportional factor for the angular velocity (s^-1).
double	max_angular_velocity_
	Max. angular velocity (rad/s).
double	min_angular_velocity_
	Min. angular velocity for dead-zone management (rad/s).
nav_msgs::Odometry	odom_
	Last received odometry message.
ros::Subscriber	odom_handler_
::featurenav_base::Segment	segment_
	Segment we will traverse.
std::string	segment_getter_name_
	Name of the service to write segments into the map.
ros::ServiceClient	segment_getter_proxy_
std::string	segment_interface_name_
	Name of the map interface for segments.
bool	start_angle_reached_
	true after the initial rotation.
geometry_msgs::Pose	start_pose_
	Pose when learning started.
ros::Publisher	twist_publisher_
Static Private Attributes
static const int	histogram_bin_size_ = 20
	Histogram bin size in pixels.
static const ros::Duration	max_odom_age_ = ros::Duration(0.5)
static const double	reach_angular_distance_ = 0.001
	dtheta to reach when turning (rad).

Detailed Description

Definition at line 37 of file njockey.h.

Constructor & Destructor Documentation

featurenav_base::NJockey::NJockey	(	const std::string &	name,
		const std::string &	segment_interface_name,
		const std::string &	segment_getter_name
	)

Definition at line 10 of file njockey.cpp.

Member Function Documentation

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

Definition at line 218 of file njockey.cpp.

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

Definition at line 207 of file njockey.cpp.

vector< double > featurenav_base::NJockey::compute_horizontal_differences	(	const vector< Landmark > &	landmarks,
		const vector< cv::KeyPoint > &	keypoints,
		const vector< Feature > &	descriptors,
		const double	d
	)		`[private]`

Definition at line 386 of file njockey.cpp.

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

Return the distance since we started learning.

Definition at line 71 of file njockey.h.

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

Reimplemented from lama_jockeys::NavigatingJockey.

Definition at line 201 of file njockey.cpp.

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

Reimplemented from lama_jockeys::NavigatingJockey.

Definition at line 195 of file njockey.cpp.

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

Implements lama_jockeys::NavigatingJockey.

Definition at line 184 of file njockey.cpp.

void featurenav_base::NJockey::onTraverse ( ) [private, virtual]

Implements lama_jockeys::NavigatingJockey.

Definition at line 84 of file njockey.cpp.

size_t featurenav_base::NJockey::processImage	(	const sensor_msgs::ImageConstPtr &	image,
		double &	dtheta
	)		`[private]`

Return the number of matched landmarks and the angular deviation to the learned path

Definition at line 299 of file njockey.cpp.

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

Definition at line 43 of file njockey.cpp.

bool featurenav_base::NJockey::retrieveSegment ( ) [private]

Definition at line 50 of file njockey.cpp.

double featurenav_base::NJockey::saturate ( double w ) const [private]

Definition at line 268 of file njockey.cpp.

vector< Landmark > featurenav_base::NJockey::select_tracked_landmarks ( const double d ) const [private]

Definition at line 373 of file njockey.cpp.

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

Definition at line 44 of file njockey.h.

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

Definition at line 43 of file njockey.h.

geometry_msgs::Twist featurenav_base::NJockey::turnToAngle ( const double direction ) [private]

GoToGoal behavior for pure rotation

direction[in] direction the robot should have at the end (in odometry_ frame). twist[out] set velocity.

Definition at line 251 of file njockey.cpp.

Member Data Documentation

can_do_function_ptr featurenav_base::NJockey::canDo

Definition at line 46 of file njockey.h.

feature_extractor_function_ptr featurenav_base::NJockey::extract_features_ [private]

Definition at line 108 of file njockey.h.

double featurenav_base::NJockey::forward_velocity_ [private]

Linear velocity (m/s).

Definition at line 92 of file njockey.h.

bool featurenav_base::NJockey::has_odom_ [private]

true after an Odometry message was received.

Definition at line 111 of file njockey.h.

const int featurenav_base::NJockey::histogram_bin_size_ = 20 [static, private]

Histogram bin size in pixels.

Definition at line 102 of file njockey.h.

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

Definition at line 84 of file njockey.h.

bool featurenav_base::NJockey::image_processing_running_ [private]

true when treating an image.

Definition at line 113 of file njockey.h.

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

Definition at line 83 of file njockey.h.

double featurenav_base::NJockey::kp_ [private]

Definition at line 93 of file njockey.h.

descriptor_matcher_function_ptr featurenav_base::NJockey::match_descriptors_ [private]

Definition at line 109 of file njockey.h.

double featurenav_base::NJockey::matcher_max_relative_distance_ [private]

> Proportional factor for the angular velocity (s^-1).

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 94 of file njockey.h.

double featurenav_base::NJockey::max_angular_velocity_ [private]

Max. angular velocity (rad/s).

Definition at line 97 of file njockey.h.

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

Definition at line 101 of file njockey.h.

double featurenav_base::NJockey::min_angular_velocity_ [private]

Min. angular velocity for dead-zone management (rad/s).

Definition at line 98 of file njockey.h.

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

Last received odometry message.

Definition at line 110 of file njockey.h.