#include <furniture_tracker.h>

Public Member Functions
	FurnitureTracker ()
	Constructor, initializes data structures containing information about markers and furniture obstacles.
void	publishFurniturePoses ()
	publish localization and navigation data for furniture that has recently changed pose
Private Member Functions
void	fillFootprintInformation (int index, std::vector< geometry_msgs::Polygon > footprints, rail_ceiling::Obstacles *obstacles, bool isLocalization)
	Calculate footprint polygons and fill them into an obstacles message.
bool	getAllPoses (rail_ceiling::GetAllObstacles::Request &req, rail_ceiling::GetAllObstacles::Response &res)
	service callback for returning the most recent set of previously published furniture poses
void	markerCallback (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg)
	save updated marker data
void	readConfigFiles (std::string markerConfigFile, std::string furnitureConfigFile)
	read marker and furniture configuration data
bool	updated (geometry_msgs::Pose2D pose)
	determine whether a pose has been updated after its initialization
void	updateMessages (int index, std::string type, rail_ceiling::Obstacles *obstacles)
	update obstacle message data
Private Attributes
ros::ServiceServer	allPosesServer
std::vector< FurnitureTransforms >	footprintTransforms
ros::Publisher	furnitureLayerPub
std::vector< Furniture >	furnitureList
std::vector < geometry_msgs::Pose2D >	furniturePoses
std::vector < geometry_msgs::Pose2D >	lastPublishedPoses
std::vector< Marker >	markerList
std::vector< ros::Subscriber >	markerSubscribers
ros::NodeHandle	n
bool	readInitialPoses
tf::TransformListener	tfListener

Detailed Description

Definition at line 48 of file furniture_tracker.h.

Constructor & Destructor Documentation

FurnitureTracker::FurnitureTracker ( )

Constructor, initializes data structures containing information about markers and furniture obstacles.

Definition at line 15 of file furniture_tracker.cpp.

Member Function Documentation

void FurnitureTracker::fillFootprintInformation	(	int	index,
		std::vector< geometry_msgs::Polygon >	footprints,
		rail_ceiling::Obstacles *	obstacles,
		bool	isLocalization
	)		`[private]`

Calculate footprint polygons and fill them into an obstacles message.

Parameters:

index	furniture id
footprints	furniture footprint information
obstacles	obstacles message in which to store the calculated footprints
isLocalization	true if this update is for localization footprints, false if it is for navigation footprints

Definition at line 402 of file furniture_tracker.cpp.

bool FurnitureTracker::getAllPoses	(	rail_ceiling::GetAllObstacles::Request &	req,
		rail_ceiling::GetAllObstacles::Response &	res
	)		`[private]`

service callback for returning the most recent set of previously published furniture poses

This service allows nodes that subscribe late to the topic to get the furniture poses that were updated before subscribing to the localization layer and navigation layer publishers.

Parameters:

req	service request denoting whether the request is for localization or navigation obstacle information
res	service response including footprint information

Definition at line 340 of file furniture_tracker.cpp.

void FurnitureTracker::markerCallback ( const ar_track_alvar_msgs::AlvarMarkers::ConstPtr & msg ) [private]

save updated marker data

Parameters:

msg	marker pose data

Definition at line 252 of file furniture_tracker.cpp.

void FurnitureTracker::publishFurniturePoses ( )

publish localization and navigation data for furniture that has recently changed pose

Furniture poses will be published initially as markers are detected, and subsequently will only be republished if the position exceeds the POSITION_THRESHOLD or if the angle exceeds the ANGULAR_THRESHOLD.

Definition at line 288 of file furniture_tracker.cpp.

void FurnitureTracker::readConfigFiles	(	std::string	markerConfigFile,
		std::string	furnitureConfigFile
	)		`[private]`

read marker and furniture configuration data

Parameters:

markerConfigFile	configuration file path for markers on furniture
furnitureConfigFile	configuration file for localization and navigation furniture footprints

Definition at line 52 of file furniture_tracker.cpp.

bool FurnitureTracker::updated ( geometry_msgs::Pose2D pose ) [private]

determine whether a pose has been updated after its initialization

This function assumes that the pose will never be exactly (0.0, 0.0, 0.0) after it's been updated, which for the purposes of furniture tracking is likely to be accurate.

Parameters: