directSearchWS::DirectSearchManager Class Reference

#include <direct_search_manager.hpp>

Inheritance diagram for directSearchWS::DirectSearchManager:

Public Member Functions
virtual bool	backToInitial (const SearchedObjectTypesAndIds &searchedObjectTypesAndIds)
	DirectSearchManager ()
virtual bool	getNextRobotState (const SearchedObjectTypesAndIds &searchedObjectTypesAndIds)
virtual bool	initHandler ()=0
virtual bool	resetHandler ()
virtual	~DirectSearchManager ()
Public Member Functions inherited from directSearchWS::DirectSearchHandler
	DirectSearchHandler ()
PosePtr	getActualCameraPosePtr () const
SearchedObjectTypesAndIds	getActualFilteredSearchedObjectTypesAndIds () const
PtuTuplePtr	getActualPtuPtr () const
PosePtr	getActualRobotPosePtr () const
bool	getArePosesFromDemonstrationLeft () const
bool	getIsNoPoseLeft () const
bool	getIsSameRobotPoseAsBefore () const
double	getRemainingPosesDistances () const
int	getRemainingPTUPoses () const
int	getRemainingRobotPoses () const
virtual	~DirectSearchHandler ()

Protected Member Functions
bool	parsePosesToExploreFromXML (const std::string &path)
Protected Member Functions inherited from directSearchWS::DirectSearchHandler
void	calculateRemainingPosesDistances ()

Protected Attributes
FilterPosesDependingOnAlreadyFoundObjectTypesPtr	filterPosesDependingOnAlreadyFoundObjectTypesPtr
SearchedObjectTypes	lastSearchedObjectTypes
bool	reorderPosesByNBVParam
Protected Attributes inherited from directSearchWS::DirectSearchHandler
bool	arePosesFromDemonstrationLeft
bool	isNoPoseLeft
bool	isRobotPoseChanged
bool	isSameRobotPoseAsBefore
PosePtr	nextCameraPosePtr
SearchedObjectTypesAndIds	nextFilteredSearchedObjectTypesAndIds
PtuTuplePtr	nextPtuPtr
PosePtr	nextRobotPosePtr
PoseHelperPtr	poseHelperPtr
RobotStatePtrVecPtr	posesToExplorePtr
double	remainingPosesDistances

Private Member Functions
bool	deleteAllRedundantPoses (const RobotStatePtrVecPtr &robotStates) const
bool	filterPosesDependingOnAlreadyFoundObjectTypes (const RobotStatePtrVecPtr &robotStates, const SearchedObjectTypes &searchedObjectTypes) const
bool	getViewportsFromWorldModel (std::vector< asr_msgs::AsrViewport > &viewports)
PosePtr	parsePose (const rapidxml::xml_node<> *node, const char *poseName) const
void	ptuDriverStateCallback (const sensor_msgs::JointState::ConstPtr &ptuState)
bool	reorderPosesByNBV (const SearchedObjectTypes &searchedObjectTypes)
bool	setInitialRobotState ()
bool	setPointCloudInNBV (const SearchedObjectTypesAndIds &searchedObjectTypesAndIds)

Private Attributes
double	currentPan
double	currentTilt
std::string	dbfilenameParam
DoFilterIterationPtr	doFilterIterationPtrForPosesDependingOnAlreadyFoundObjectTypes
ros::ServiceClient	getViewportListServiceClient
bool	needSortByNBV
ros::Subscriber	ptuDriverStateSubscriber
ros::ServiceClient	rateViewportsServiceClient
ros::ServiceClient	setAttributedPointCloudServiceClient
ros::ServiceClient	setInitRobotStateServiceClient

Detailed Description

Definition at line 40 of file direct_search_manager.hpp.

Constructor & Destructor Documentation

directSearchWS::DirectSearchManager::DirectSearchManager

(

)

Definition at line 22 of file direct_search_manager.cpp.

directSearchWS::DirectSearchManager::~DirectSearchManager ( )

virtual

Definition at line 43 of file direct_search_manager.cpp.

Member Function Documentation

bool directSearchWS::DirectSearchManager::backToInitial ( const SearchedObjectTypesAndIds &  searchedObjectTypesAndIds )

virtual

Reimplemented from directSearchWS::DirectSearchHandler.

Reimplemented in directSearchWS::RecordingManager.

Definition at line 165 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::deleteAllRedundantPoses ( const RobotStatePtrVecPtr &  robotStates ) const

private

Definition at line 318 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::filterPosesDependingOnAlreadyFoundObjectTypes ( const RobotStatePtrVecPtr &  robotStates, const SearchedObjectTypes &  searchedObjectTypes  ) const

private

Definition at line 327 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::getNextRobotState ( const SearchedObjectTypesAndIds &  searchedObjectTypesAndIds )

virtual

Reimplemented from directSearchWS::DirectSearchHandler.

Reimplemented in directSearchWS::RecordingManager.

Definition at line 111 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::getViewportsFromWorldModel ( std::vector< asr_msgs::AsrViewport > &  viewports )

private

Definition at line 157 of file direct_search_manager.cpp.

virtual bool directSearchWS::DirectSearchManager::initHandler ( )

pure virtual

Implements directSearchWS::DirectSearchHandler.

Implemented in directSearchWS::RecordingManager, and directSearchWS::GridManager.

PosePtr directSearchWS::DirectSearchManager::parsePose ( const rapidxml::xml_node<> *  node, const char *  poseName  ) const

private

Definition at line 83 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::parsePosesToExploreFromXML ( const std::string &  path )

protected

Definition at line 45 of file direct_search_manager.cpp.

void directSearchWS::DirectSearchManager::ptuDriverStateCallback ( const sensor_msgs::JointState::ConstPtr &  ptuState )

private

Definition at line 353 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::reorderPosesByNBV ( const SearchedObjectTypes &  searchedObjectTypes )

private

Definition at line 211 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::resetHandler ( )

virtual

Reimplemented from directSearchWS::DirectSearchHandler.

Reimplemented in directSearchWS::RecordingManager, and directSearchWS::GridManager.

Definition at line 101 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::setInitialRobotState ( )

private

Definition at line 337 of file direct_search_manager.cpp.

bool directSearchWS::DirectSearchManager::setPointCloudInNBV ( const SearchedObjectTypesAndIds &  searchedObjectTypesAndIds )

private

Definition at line 358 of file direct_search_manager.cpp.

Member Data Documentation

double directSearchWS::DirectSearchManager::currentPan

private

Definition at line 54 of file direct_search_manager.hpp.

double directSearchWS::DirectSearchManager::currentTilt

private

Definition at line 55 of file direct_search_manager.hpp.

std::string directSearchWS::DirectSearchManager::dbfilenameParam

private

Definition at line 43 of file direct_search_manager.hpp.

DoFilterIterationPtr directSearchWS::DirectSearchManager::doFilterIterationPtrForPosesDependingOnAlreadyFoundObjectTypes

private

Definition at line 52 of file direct_search_manager.hpp.

FilterPosesDependingOnAlreadyFoundObjectTypesPtr directSearchWS::DirectSearchManager::filterPosesDependingOnAlreadyFoundObjectTypesPtr

protected

Definition at line 74 of file direct_search_manager.hpp.

ros::ServiceClient directSearchWS::DirectSearchManager::getViewportListServiceClient

private

Definition at line 45 of file direct_search_manager.hpp.

SearchedObjectTypes directSearchWS::DirectSearchManager::lastSearchedObjectTypes

protected

Definition at line 70 of file direct_search_manager.hpp.

bool directSearchWS::DirectSearchManager::needSortByNBV

private

Definition at line 56 of file direct_search_manager.hpp.

ros::Subscriber directSearchWS::DirectSearchManager::ptuDriverStateSubscriber

private

Definition at line 47 of file direct_search_manager.hpp.

ros::ServiceClient directSearchWS::DirectSearchManager::rateViewportsServiceClient

private

Definition at line 50 of file direct_search_manager.hpp.

bool directSearchWS::DirectSearchManager::reorderPosesByNBVParam

protected

Definition at line 72 of file direct_search_manager.hpp.

ros::ServiceClient directSearchWS::DirectSearchManager::setAttributedPointCloudServiceClient

private

Definition at line 49 of file direct_search_manager.hpp.

ros::ServiceClient directSearchWS::DirectSearchManager::setInitRobotStateServiceClient

private

Definition at line 48 of file direct_search_manager.hpp.

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The documentation for this class was generated from the following files:

• direct_search_manager.hpp
• direct_search_manager.cpp