#include <tracking.hpp>

Public Member Functions
	ARMarkerTracking ()
bool	init ()
void	spin ()
virtual	~ARMarkerTracking ()
Protected Member Functions
void	arPoseMarkersCB (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg)
bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarker &closest_marker)
bool	closest (const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)
bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)
virtual void	customCB (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const std::vector< TrackedMarker > &tracked_markers)
bool	excluded (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v)
bool	included (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v, ar_track_alvar_msgs::AlvarMarker *e=NULL)
void	maintainTrackedMarker (TrackedMarker &marker, const ar_track_alvar_msgs::AlvarMarker &msgMarker, const int obs_list_max_size, const double max_valid_d_inc, const double max_valid_h_inc)
void	maintainTrackedMarkers (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg, std::vector< TrackedMarker > &tracked_markers)
bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)
bool	spotted (double younger_than, const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)
bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted)
Protected Attributes
double	ar_tracker_freq_
double	max_reliable_dist_
double	max_reliable_head_
double	max_tracking_time_
double	max_valid_d_inc_
double	max_valid_h_inc_
double	min_penalized_dist_
double	min_penalized_head_
ar_track_alvar_msgs::AlvarMarkers	spotted_markers_
ros::Subscriber	sub_ar_markers_
std::vector< TrackedMarker >	tracked_markers_

Detailed Description

Definition at line 121 of file tracking.hpp.

Constructor & Destructor Documentation

yocs::ARMarkerTracking::ARMarkerTracking ( )

Definition at line 17 of file tracking.cpp.

yocs::ARMarkerTracking::~ARMarkerTracking ( ) [virtual]

Definition at line 21 of file tracking.cpp.

Member Function Documentation

void yocs::ARMarkerTracking::arPoseMarkersCB ( const ar_track_alvar_msgs::AlvarMarkers::ConstPtr & msg ) [protected]

Definition at line 51 of file tracking.cpp.

bool yocs::ARMarkerTracking::closest	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)		`[protected]`

Definition at line 122 of file utils.cpp.

bool yocs::ARMarkerTracking::closest	(	const ar_track_alvar_msgs::AlvarMarkers &	including,
		const ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)		`[protected]`

Definition at line 46 of file utils.cpp.

bool yocs::ARMarkerTracking::closest	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)		`[protected]`

Definition at line 142 of file utils.cpp.

virtual void yocs::ARMarkerTracking::customCB	(	const ar_track_alvar_msgs::AlvarMarkers &	spotted_markers,
		const std::vector< TrackedMarker > &	tracked_markers
	)		`[inline, protected, virtual]`

Definition at line 136 of file tracking.hpp.

bool yocs::ARMarkerTracking::excluded	(	const uint32_t	id,
		const ar_track_alvar_msgs::AlvarMarkers &	v
	)		`[protected]`

Definition at line 181 of file utils.cpp.

bool yocs::ARMarkerTracking::included	(	const uint32_t	id,
		const ar_track_alvar_msgs::AlvarMarkers &	v,
		ar_track_alvar_msgs::AlvarMarker *	e = `NULL`
	)		`[protected]`

Definition at line 164 of file utils.cpp.

bool yocs::ARMarkerTracking::init ( )

Definition at line 23 of file tracking.cpp.

void yocs::ARMarkerTracking::maintainTrackedMarker	(	TrackedMarker &	marker,
		const ar_track_alvar_msgs::AlvarMarker &	msgMarker,
		const int	obs_list_max_size,
		const double	max_valid_d_inc,
		const double	max_valid_h_inc
	)		`[protected]`

Definition at line 94 of file tracking.cpp.

void yocs::ARMarkerTracking::maintainTrackedMarkers	(	const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &	msg,
		std::vector< TrackedMarker > &	tracked_markers
	)		`[protected]`

Definition at line 69 of file tracking.cpp.

void yocs::ARMarkerTracking::spin ( )

Definition at line 143 of file tracking.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	spotted_markers
	)		`[protected]`

Return spotted markers satisfying the constraints specified by the parameters

Parameters:

younger_than	Elapsed time between now and markers timestamp must be below this limit.
min_confidence
exclude_globals
spotted_markers

Returns:

Definition at line 66 of file utils.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		const ar_track_alvar_msgs::AlvarMarkers &	including,
		const ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarkers &	spotted_markers
	)		`[protected]`

Definition at line 19 of file utils.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarkers &	spotted
	)		`[protected]`