#include <tracking.hpp>

Inheritance diagram for yocs::ARPairTracking:

Public Member Functions
void	addPair (const yocs_msgs::ARPair &p)
	ARPairTracking ()
bool	init ()
virtual	~ARPairTracking ()
Protected Member Functions
void	computeRelativeRobotPose (const yocs_msgs::ARPair &spotted_pair, const std::vector< TrackedMarker > &tracked_markers, const ar_track_alvar_msgs::AlvarMarker &left, const ar_track_alvar_msgs::AlvarMarker &right)
void	customCB (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const std::vector< TrackedMarker > &tracked_markers)
bool	spotMarkerPair (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const yocs_msgs::ARPair &pair, ar_track_alvar_msgs::AlvarMarker &left, ar_track_alvar_msgs::AlvarMarker &right)
void	updateARPairsCB (const yocs_msgs::ARPairList::ConstPtr &msg)
Private Attributes
std::vector< yocs_msgs::ARPair >	ar_pairs_
std::string	base_frame_
std::string	global_frame_
std::string	marker_frame_
ros::Publisher	pub_initial_pose_
ros::Publisher	pub_relative_target_pose_
ros::Publisher	pub_spotted_markers_
bool	publish_transforms
ros::Subscriber	sub_update_ar_pairs_
std::string	target_pose_frame_
tf::TransformBroadcaster	tf_brcaster_
tf::Transformer	tf_internal_
tf::TransformListener	tf_listener_

Detailed Description

Definition at line 60 of file tracking.hpp.

Constructor & Destructor Documentation

yocs::ARPairTracking::ARPairTracking ( )

Definition at line 11 of file tracking.cpp.

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

Definition at line 16 of file tracking.cpp.

void yocs::ARPairTracking::addPair ( const yocs_msgs::ARPair & p )

Definition at line 38 of file tracking.cpp.

void yocs::ARPairTracking::computeRelativeRobotPose	(	const yocs_msgs::ARPair &	spotted_pair,
		const std::vector< TrackedMarker > &	tracked_markers,
		const ar_track_alvar_msgs::AlvarMarker &	left,
		const ar_track_alvar_msgs::AlvarMarker &	right
	)		`[protected]`

Definition at line 96 of file tracking.cpp.

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

Definition at line 56 of file tracking.cpp.

bool yocs::ARPairTracking::init ( )

Definition at line 18 of file tracking.cpp.

bool yocs::ARPairTracking::spotMarkerPair	(	const ar_track_alvar_msgs::AlvarMarkers &	spotted_markers,
		const yocs_msgs::ARPair &	pair,
		ar_track_alvar_msgs::AlvarMarker &	left,
		ar_track_alvar_msgs::AlvarMarker &	right
	)		`[protected]`