ObjectConfigurationGenerator Class Reference

Public Member Functions
	ObjectConfigurationGenerator ()
	~ObjectConfigurationGenerator ()

Private Types
enum	SelectEntity { Previous = -1, Next = 1 }

Private Member Functions
void	getNodeParameters (std::vector< std::string > &patternNames, std::string &configFilePath)
	Read node parameters. More...
void	initFromDatabase (std::vector< std::string > &patternNames)
	Read tracks from the scenes specified by patternNames from database and store them in the appropriate members. More...
void	initInteractiveControl ()
	Sets up keyboard control. More...
bool	isMarked (const ISM::ObjectPtr &obj)
	Checks if object is marked. More...
void	keyboardInputCallback (const ros::TimerEvent &e)
	Function that handles user keyboard input and calls the appropriate functions. More...
void	loadConstellationFromConfigFile (const std::string &configFilePath)
	Loads a configuration from an xml file located at configFilePath;mDbFilename. More...
void	markOrUnmark ()
	If the currently selected pose is marked, it gets unmarked, else it gets marked. More...
bool	parsePoseString (std::string pose_string, ISM::PosePtr &pose, std::string delim, std::string angles)
	Creates a ISM::PosePtr from a pose_string. More...
void	printEditModeHelpText ()
void	printMarkedObjects ()
void	printNormalHelpText ()
void	rotate (double alpha, double beta, double gamma, ISM::PosePtr pose)
	Rotates the given pose by the values specified by the arguments. More...
void	runEditMode ()
	Start and run edit mode in which the pose of the selected object can be manipulated. More...
void	switchObject (SelectEntity neighbor)
	Switch to the neighbor object. More...
void	switchPose (SelectEntity neighbor)
	Switch to the neighbor pose in the trajectory. More...
void	translate (double x, double y, double z, ISM::PosePtr pose)
	Translates the given pose by the values specified by the arguments. More...
void	visualize ()
	Visulize the currently selected pose, all poses that are in the same trajectory and one pose of each other object. More...
void	writeMarkedPosesToFile ()
	Writes the type, observedId, path to the mesh and its pose to an xml file. More...

Private Attributes
std::string	baseFrame
std::vector< bool >	editFlags
const std_msgs::ColorRGBA	IN_CURRENT_TRACK = VIZ::VizHelperRVIZ::createColorRGBA(0, 1.0, 0, 1)
ros::Timer	keyboardTimer
bool	keyPressed
const std_msgs::ColorRGBA	MARKED = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 0.0, 1.0)
std::set< std::string >	markedObjects
visualization_msgs::MarkerArray	markerArray
const double	markerLifetime = 0.0
std::string	markerNamespace = "object_configuration"
std::string	mDbFilename
ros::NodeHandle	nh
std::vector< std::pair< ISM::ObjectPtr, std::vector< ISM::PosePtr > > >	objectAndPoses
unsigned int	objectCounter = 0
std::string	output_file_path
std::vector< unsigned int >	poseCounters
const std_msgs::ColorRGBA	SELECTED = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 1.0, 1.0)
float	sphere_radius = 0.01
ISM::TableHelperPtr	tableHandler
ros::Publisher	visualization_pub
std::string	visualizationTopic
const std_msgs::ColorRGBA	X_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 0.0, 0.5)
const std_msgs::ColorRGBA	Y_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(0.0, 1.0, 0.0, 0.5)
const std_msgs::ColorRGBA	Z_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(0.0, 0.0, 1.0, 0.5)

Detailed Description

Definition at line 66 of file object_configuration_generator.cpp.

Member Enumeration Documentation

enum ObjectConfigurationGenerator::SelectEntity

private

Enumerator
Previous
Next

Definition at line 361 of file object_configuration_generator.cpp.

Constructor & Destructor Documentation

ObjectConfigurationGenerator::ObjectConfigurationGenerator ( )

inline

Definition at line 71 of file object_configuration_generator.cpp.

ObjectConfigurationGenerator::~ObjectConfigurationGenerator ( )

inline

Definition at line 127 of file object_configuration_generator.cpp.

Member Function Documentation

void ObjectConfigurationGenerator::getNodeParameters ( std::vector< std::string > &  patternNames, std::string &  configFilePath  )

inlineprivate

Read node parameters.

Parameters

patternName

the name of the scene

Definition at line 138 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::initFromDatabase ( std::vector< std::string > &  patternNames )

inlineprivate

Read tracks from the scenes specified by patternNames from database and store them in the appropriate members.

Parameters

patternNames

the names of the scenes.

Definition at line 290 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::initInteractiveControl ( )

inlineprivate

Sets up keyboard control.

Definition at line 406 of file object_configuration_generator.cpp.

bool ObjectConfigurationGenerator::isMarked ( const ISM::ObjectPtr &  obj )

inlineprivate

Checks if object is marked.

Definition at line 669 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::keyboardInputCallback ( const ros::TimerEvent &  e )

inlineprivate

Function that handles user keyboard input and calls the appropriate functions.

Parameters

e

not used

Definition at line 496 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::loadConstellationFromConfigFile ( const std::string &  configFilePath )

inlineprivate

Loads a configuration from an xml file located at configFilePath;mDbFilename.

Parameters

configFilePath

the location of the config file

Definition at line 764 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::markOrUnmark ( )

inlineprivate

If the currently selected pose is marked, it gets unmarked, else it gets marked.

Definition at line 271 of file object_configuration_generator.cpp.

bool ObjectConfigurationGenerator::parsePoseString ( std::string  pose_string, ISM::PosePtr &  pose, std::string  delim, std::string  angles  )

inlineprivate

Creates a ISM::PosePtr from a pose_string.

Parameters

pose_string	contains x, y, z values and angles
pose	the resulting pose is stored here
delim	the symbols that separate values in pose_string

Returns

if the ISM::PosePtr could successfully be created

Definition at line 831 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::printEditModeHelpText ( )

inlineprivate

Print edit mode help text.

Definition at line 448 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::printMarkedObjects ( )

inlineprivate

Print marked objects on console.

Definition at line 467 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::printNormalHelpText ( )

inlineprivate

Print possible commands on console.

Definition at line 426 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::rotate ( double  alpha, double  beta, double  gamma, ISM::PosePtr  pose  )

inlineprivate

Rotates the given pose by the values specified by the arguments.

Parameters

alpha	rotation angle in degree around the x-axis.
beta	rotation angle in degree around the y-axis.
gamma	rotation angle in degree around the z-axis.
pose	the pose that is to be rotated.

Definition at line 722 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::runEditMode ( )

inlineprivate

Start and run edit mode in which the pose of the selected object can be manipulated.

Definition at line 556 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::switchObject ( SelectEntity  neighbor )

inlineprivate

Switch to the neighbor object.

Definition at line 366 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::switchPose ( SelectEntity  neighbor )

inlineprivate

Switch to the neighbor pose in the trajectory.

Definition at line 388 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::translate ( double  x, double  y, double  z, ISM::PosePtr  pose  )

inlineprivate

Translates the given pose by the values specified by the arguments.

Parameters

x	the offset in meters by which the pose is translated along the x-axis.
y	the offset in meters by which the pose is translated along the y-axis.
z	the offset in meters by which the pose is translated along the z-axis.
pose	the pose that is to be translated.

Definition at line 743 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::visualize ( )

inlineprivate

Visulize the currently selected pose, all poses that are in the same trajectory and one pose of each other object.

Definition at line 185 of file object_configuration_generator.cpp.

void ObjectConfigurationGenerator::writeMarkedPosesToFile ( )

inlineprivate

Writes the type, observedId, path to the mesh and its pose to an xml file.

Definition at line 677 of file object_configuration_generator.cpp.

Member Data Documentation

std::string ObjectConfigurationGenerator::baseFrame

private

Definition at line 889 of file object_configuration_generator.cpp.

std::vector<bool> ObjectConfigurationGenerator::editFlags

private

Definition at line 899 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::IN_CURRENT_TRACK = VIZ::VizHelperRVIZ::createColorRGBA(0, 1.0, 0, 1)

private

Definition at line 910 of file object_configuration_generator.cpp.

ros::Timer ObjectConfigurationGenerator::keyboardTimer

private

Definition at line 919 of file object_configuration_generator.cpp.

bool ObjectConfigurationGenerator::keyPressed

private

Definition at line 904 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::MARKED = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 0.0, 1.0)

private

Definition at line 909 of file object_configuration_generator.cpp.

std::set<std::string> ObjectConfigurationGenerator::markedObjects

private

Definition at line 886 of file object_configuration_generator.cpp.

visualization_msgs::MarkerArray ObjectConfigurationGenerator::markerArray

private

Definition at line 916 of file object_configuration_generator.cpp.

const double ObjectConfigurationGenerator::markerLifetime = 0.0

private

Definition at line 895 of file object_configuration_generator.cpp.

std::string ObjectConfigurationGenerator::markerNamespace = "object_configuration"

private

Definition at line 893 of file object_configuration_generator.cpp.

std::string ObjectConfigurationGenerator::mDbFilename

private

Definition at line 888 of file object_configuration_generator.cpp.

ros::NodeHandle ObjectConfigurationGenerator::nh

private

Definition at line 882 of file object_configuration_generator.cpp.

std::vector<std::pair<ISM::ObjectPtr, std::vector<ISM::PosePtr> > > ObjectConfigurationGenerator::objectAndPoses

private

Definition at line 885 of file object_configuration_generator.cpp.

unsigned int ObjectConfigurationGenerator::objectCounter = 0

private

Definition at line 897 of file object_configuration_generator.cpp.

std::string ObjectConfigurationGenerator::output_file_path

private

Definition at line 901 of file object_configuration_generator.cpp.

std::vector<unsigned int> ObjectConfigurationGenerator::poseCounters

private

Definition at line 898 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::SELECTED = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 1.0, 1.0)

private

Definition at line 908 of file object_configuration_generator.cpp.

float ObjectConfigurationGenerator::sphere_radius = 0.01

private

Definition at line 906 of file object_configuration_generator.cpp.

ISM::TableHelperPtr ObjectConfigurationGenerator::tableHandler

private

Definition at line 883 of file object_configuration_generator.cpp.

ros::Publisher ObjectConfigurationGenerator::visualization_pub

private

Definition at line 890 of file object_configuration_generator.cpp.

std::string ObjectConfigurationGenerator::visualizationTopic

private

Definition at line 892 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::X_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(1.0, 0.0, 0.0, 0.5)

private

Definition at line 912 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::Y_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(0.0, 1.0, 0.0, 0.5)

private

Definition at line 913 of file object_configuration_generator.cpp.

const std_msgs::ColorRGBA ObjectConfigurationGenerator::Z_AXIS = VIZ::VizHelperRVIZ::createColorRGBA(0.0, 0.0, 1.0, 0.5)

private

Definition at line 914 of file object_configuration_generator.cpp.

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

• object_configuration_generator.cpp