#include <tracking.hpp>
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_ |
Definition at line 60 of file tracking.hpp.
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] |
Reimplemented from yocs::ARMarkerTracking.
Definition at line 56 of file tracking.cpp.
bool yocs::ARPairTracking::init | ( | ) |
Reimplemented from yocs::ARMarkerTracking.
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] |
Definition at line 75 of file tracking.cpp.
void yocs::ARPairTracking::updateARPairsCB | ( | const yocs_msgs::ARPairList::ConstPtr & | msg | ) | [protected] |
Definition at line 43 of file tracking.cpp.
std::vector<yocs_msgs::ARPair> yocs::ARPairTracking::ar_pairs_ [private] |
Definition at line 89 of file tracking.hpp.
std::string yocs::ARPairTracking::base_frame_ [private] |
Definition at line 94 of file tracking.hpp.
std::string yocs::ARPairTracking::global_frame_ [private] |
Definition at line 92 of file tracking.hpp.
std::string yocs::ARPairTracking::marker_frame_ [private] |
Definition at line 93 of file tracking.hpp.
Definition at line 81 of file tracking.hpp.
Definition at line 81 of file tracking.hpp.
Definition at line 81 of file tracking.hpp.
bool yocs::ARPairTracking::publish_transforms [private] |
Definition at line 90 of file tracking.hpp.
Definition at line 82 of file tracking.hpp.
std::string yocs::ARPairTracking::target_pose_frame_ [private] |
Definition at line 95 of file tracking.hpp.
Definition at line 86 of file tracking.hpp.
Definition at line 84 of file tracking.hpp.
Definition at line 85 of file tracking.hpp.