This class is used to simulate typical errors of an object recognition system. More...

#include <error_simulation.h>

Public Member Functions
geometry_msgs::Pose	addNoiseToOrientation (const geometry_msgs::Pose &pose)
	Adds error values to the given pose (orientation only) More...

geometry_msgs::Pose	addNoiseToPosition (const geometry_msgs::Pose &pose)
	Adds error values to the given pose (position only) More...

	ErrorSimulation ()
	The constructor of this class. More...

	ErrorSimulation (bool use_pose_invalidation, bool use_position_noise, bool use_orientation_noise)
	The constructor of this class (with parameters) More...

bool	poseInvalidation ()
	Invalidates a pose by the probability member of this class. More...

void	setOrXNoiseDistDev (double or_x_noise_dist_dev)
	Sets the standard deviation value of the normal distribution used by the orientation error generation (x-axis) More...

void	setOrXNoiseDistMean (double or_x_noise_dist_mean)
	Sets the mean value of the normal distribution used by the orientation error generation (x-axis) More...

void	setOrYNoiseDistDev (double or_y_noise_dist_dev)
	Sets the standard deviation value of the normal distribution used by the orientation error generation (y-axis) More...

void	setOrYNoiseDistMean (double or_y_noise_dist_mean)
	Sets the mean value of the normal distribution used by the orientation error generation (y-axis) More...

void	setOrZNoiseDistDev (double or_z_noise_dist_dev)
	Sets the standard deviation value of the normal distribution used by the orientation error generation (z-axis) More...

void	setOrZNoiseDistMean (double or_z_noise_dist_mean)
	Sets the mean value of the normal distribution used by the orientation error generation (z-axis) More...

void	setPoseNoiseDistDev (double pos_noise_dist_dev)
	Sets the standard deviation value of the normal distribution used by the position error generation. More...

void	setPoseNoiseDistMean (double pos_noise_dist_mean)
	Sets the mean value of the normal distribution used by the position error generation. More...

void	setProbPoseInval (double prob_pose_inval)
	Set the probability of the pose invalidation. More...

Private Member Functions
double	genNormalDistNumber (double mean, double std_deviation)
	Returns a value calculated on a normal distribution. More...

double	genUniformNumber (double interval_start, double interval_end)
	Returns a value calculated on a uniform distribution. More...

Private Attributes
double	or_x_noise_dist_dev_

double	or_x_noise_dist_mean_

double	or_y_noise_dist_dev_

double	or_y_noise_dist_mean_

double	or_z_noise_dist_dev_

double	or_z_noise_dist_mean_

double	pos_noise_dist_dev_

double	pos_noise_dist_mean_

double	prob_pose_inval_

bool	use_orientation_noise_

bool	use_pose_invalidation_

bool	use_position_noise_

Detailed Description

This class is used to simulate typical errors of an object recognition system.

Definition at line 55 of file error_simulation.h.

Constructor & Destructor Documentation

fake_object_recognition::ErrorSimulation::ErrorSimulation ( )

The constructor of this class.

Definition at line 27 of file error_simulation.cpp.

fake_object_recognition::ErrorSimulation::ErrorSimulation	(	bool	use_pose_invalidation,
		bool	use_position_noise,
		bool	use_orientation_noise
	)

The constructor of this class (with parameters)

Parameters

use_pose_invalidation	Indicates if pose invalidation is used
use_position_noise	Indicates if position errors are used
use_orientation_noise	Indicates if orientation errors are used

Definition at line 29 of file error_simulation.cpp.

Member Function Documentation

geometry_msgs::Pose fake_object_recognition::ErrorSimulation::addNoiseToOrientation ( const geometry_msgs::Pose & pose )

Adds error values to the given pose (orientation only)

Parameters

pose	The given pose

Returns: The pose with errors

Definition at line 75 of file error_simulation.cpp.

geometry_msgs::Pose fake_object_recognition::ErrorSimulation::addNoiseToPosition ( const geometry_msgs::Pose & pose )

Adds error values to the given pose (position only)

Parameters

pose	The given pose

Returns: The pose with errors

Definition at line 64 of file error_simulation.cpp.

double fake_object_recognition::ErrorSimulation::genNormalDistNumber	(	double	mean,
		double	std_deviation
	)

private

Returns a value calculated on a normal distribution.

Parameters

interval_start	The mean value of the normal distribution
interval_end	The standard deviation value of the normal distribution

Returns: The calculated value

Definition at line 50 of file error_simulation.cpp.

double fake_object_recognition::ErrorSimulation::genUniformNumber	(	double	interval_start,
		double	interval_end
	)

private

Returns a value calculated on a uniform distribution.

Parameters

interval_start	The lower value of the interval used for the uniform distribution
interval_end	The upper value of the interval used for the uniform distribution

Returns: The calculated value

Definition at line 43 of file error_simulation.cpp.

bool fake_object_recognition::ErrorSimulation::poseInvalidation ( )

Invalidates a pose by the probability member of this class.

Returns: True if the pose is calculated as invalid, false otherwise

Definition at line 57 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrXNoiseDistDev ( double or_x_noise_dist_dev )

Sets the standard deviation value of the normal distribution used by the orientation error generation (x-axis)

Parameters

or_x_noise_dist_dev The standard deviation value to set

Definition at line 109 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrXNoiseDistMean ( double or_x_noise_dist_mean )

Sets the mean value of the normal distribution used by the orientation error generation (x-axis)

Parameters

or_x_noise_dist_mean The mean value to set

Definition at line 105 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrYNoiseDistDev ( double or_y_noise_dist_dev )

Sets the standard deviation value of the normal distribution used by the orientation error generation (y-axis)

Parameters

or_y_noise_dist_dev The standard deviation value to set

Definition at line 117 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrYNoiseDistMean ( double or_y_noise_dist_mean )

Sets the mean value of the normal distribution used by the orientation error generation (y-axis)

Parameters

or_y_noise_dist_mean The mean value to set

Definition at line 113 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrZNoiseDistDev ( double or_z_noise_dist_dev )

Sets the standard deviation value of the normal distribution used by the orientation error generation (z-axis)

Parameters

or_z_noise_dist_dev The standard deviation value to set

Definition at line 125 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setOrZNoiseDistMean ( double or_z_noise_dist_mean )

Sets the mean value of the normal distribution used by the orientation error generation (z-axis)

Parameters

or_z_noise_dist_mean The mean value to set

Definition at line 121 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setPoseNoiseDistDev ( double pos_noise_dist_dev )

Sets the standard deviation value of the normal distribution used by the position error generation.

Parameters

pos_noise_dist_mean The standard deviation value to set

Definition at line 101 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setPoseNoiseDistMean ( double pos_noise_dist_mean )

Sets the mean value of the normal distribution used by the position error generation.

Parameters

pos_noise_dist_mean The mean value to set

Definition at line 97 of file error_simulation.cpp.

void fake_object_recognition::ErrorSimulation::setProbPoseInval ( double prob_pose_inval )

Set the probability of the pose invalidation.

Parameters

prob_pose_inval The probability to set

Definition at line 94 of file error_simulation.cpp.

Member Data Documentation

double fake_object_recognition::ErrorSimulation::or_x_noise_dist_dev_

private

The value of the normal distribution's standard deviation value used for orientation errors (x-axis)

Definition at line 80 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::or_x_noise_dist_mean_

private

The value of the normal distribution's mean value used for orientation errors (x-axis)

Definition at line 77 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::or_y_noise_dist_dev_

private

The value of the normal distribution's standard deviation value used for orientation errors (y-axis)

Definition at line 86 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::or_y_noise_dist_mean_

private

The value of the normal distribution's mean value used for orientation errors (y-axis)

Definition at line 83 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::or_z_noise_dist_dev_

private

The value of the normal distribution's standard deviation value used for orientation errors (z-axis)

Definition at line 92 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::or_z_noise_dist_mean_

private

The value of the normal distribution's mean value used for orientation errors (z-axis)

Definition at line 89 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::pos_noise_dist_dev_

private

The value of the normal distribution's standard deviation value used for position errors

Definition at line 73 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::pos_noise_dist_mean_

private

The value of the normal distribution's mean value used for position errors

Definition at line 70 of file error_simulation.h.

double fake_object_recognition::ErrorSimulation::prob_pose_inval_

private

The value of the pose invalidation probability

Definition at line 67 of file error_simulation.h.

bool fake_object_recognition::ErrorSimulation::use_orientation_noise_

private

If this is true orientation errors are calculated

Definition at line 64 of file error_simulation.h.

bool fake_object_recognition::ErrorSimulation::use_pose_invalidation_

private

If this is true pose invalidation errors are calculated

Definition at line 58 of file error_simulation.h.

bool fake_object_recognition::ErrorSimulation::use_position_noise_

private

If this is true position errors are calculated

Definition at line 61 of file error_simulation.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation