RatingModule is a generalization for the rating of the point cloud objects and viewports. More...

#include <RatingModule.hpp>

Inheritance diagram for next_best_view::RatingModule:

Public Member Functions
virtual bool	compareScoreContainer (const BaseScoreContainerPtr &a, const BaseScoreContainerPtr &b)=0
	compares two ratings. More...

virtual bool	compareViewports (const ViewportPoint &a, const ViewportPoint &b)=0
	compares two viewports More...

virtual bool	getBestViewport (ViewportPointCloudPtr &viewports, ViewportPoint &bestViewport)=0
	Sets the best viewport from the given viewports cloud. More...

virtual float	getRating (const BaseScoreContainerPtr &a)=0
	returns the weighted rating of a rating object. More...

virtual BaseScoreContainerPtr	getScoreContainerInstance ()=0

	RatingModule ()
	constructor of the RatingModule object More...

virtual void	resetCache ()=0
	resets the cached data for a call of setBestScoreContainer More...

virtual bool	setBestScoreContainer (const ViewportPoint &currentViewport, ViewportPoint &candidateViewport)=0
	Sets the best score for the given candidate camera viewport by choosing the best combination of objects. Writes the chosen object combination and its score into the candidate viewport. Does not change the pose of the candidate viewport. More...

virtual void	setRobotState (robot_model_services::RobotStatePtr robotState)=0
	setRobotState sets the robot state, which might have an influence on the rating. More...

virtual bool	setSingleScoreContainer (const ViewportPoint &currentViewport, ViewportPoint &candidateViewport)=0
	sets the score container for one filtered camera viewport Before calling this method, the method resetCache() should be called. More...

virtual	~RatingModule ()
	destructor of the RatingModule object. More...

Public Member Functions inherited from next_best_view::CommonClass
	CommonClass ()
	constructor More...

virtual IndicesPtr &	getIndices ()

virtual ObjectPointCloudPtr &	getInputCloud ()

virtual void	setIndices (const IndicesPtr &indicesPtr)
	setting the shared pointer to the active indices of the point cloud. More...

virtual void	setInputCloud (const ObjectPointCloudPtr &pointCloudPtr)
	setting the input cloud. More...

virtual	~CommonClass ()=0
	pure virtual deconstructor. More...

Detailed Description

RatingModule is a generalization for the rating of the point cloud objects and viewports.

Author: Ralf Schleicher

Date: 2014

Version: 1.0

Copyright: GNU Public License

See also: DefaultRatingModule

Definition at line 36 of file RatingModule.hpp.

Constructor & Destructor Documentation

next_best_view::RatingModule::RatingModule ( )

constructor of the RatingModule object

Definition at line 23 of file RatingModule.cpp.

next_best_view::RatingModule::~RatingModule ( )

virtual

destructor of the RatingModule object.

Definition at line 24 of file RatingModule.cpp.

Member Function Documentation

virtual bool next_best_view::RatingModule::compareScoreContainer	(	const BaseScoreContainerPtr &	a,
		const BaseScoreContainerPtr &	b
	)

pure virtual

compares two ratings.

Parameters

a	[in] comparison object A
b	[in] comparison object B

Returns: whether A is smaller than B

Implemented in next_best_view::DefaultRatingModule.

virtual bool next_best_view::RatingModule::compareViewports	(	const ViewportPoint &	a,
		const ViewportPoint &	b
	)

pure virtual

compares two viewports

Parameters

a	[in] viewport a
b	[in] viewport b

Returns: whether a < b is true

Implemented in next_best_view::DefaultRatingModule.

virtual bool next_best_view::RatingModule::getBestViewport	(	ViewportPointCloudPtr &	viewports,
		ViewportPoint &	bestViewport
	)

pure virtual

Sets the best viewport from the given viewports cloud.

Parameters

viewports	[in] the viewports cloud
bestViewport	[out] the best viewport

Returns: whether a best viewport was found

Implemented in next_best_view::DefaultRatingModule.

virtual float next_best_view::RatingModule::getRating ( const BaseScoreContainerPtr & a )

pure virtual

returns the weighted rating of a rating object.

Parameters

a	[in] the rating object.

Returns: the weighted rating

Implemented in next_best_view::DefaultRatingModule.

virtual BaseScoreContainerPtr next_best_view::RatingModule::getScoreContainerInstance ( )

pure virtual

Returns: a shared pointer containing an empty rating object.

Implemented in next_best_view::DefaultRatingModule.

virtual void next_best_view::RatingModule::resetCache ( )

pure virtual

resets the cached data for a call of setBestScoreContainer

Implemented in next_best_view::DefaultRatingModule.

virtual bool next_best_view::RatingModule::setBestScoreContainer	(	const ViewportPoint &	currentViewport,
		ViewportPoint &	candidateViewport
	)

pure virtual

Sets the best score for the given candidate camera viewport by choosing the best combination of objects. Writes the chosen object combination and its score into the candidate viewport. Does not change the pose of the candidate viewport.

Parameters

currentViewport	[in] the current camera viewport
candidateViewport	[in,out] the candidate camera viewport. If the rating is feasible, it contains the chosen object indices in the child_indices member and the corresponding score in the score member after this method was called

Returns: whether the rating is feasible or not

Implemented in next_best_view::DefaultRatingModule.

virtual void next_best_view::RatingModule::setRobotState ( robot_model_services::RobotStatePtr robotState )

pure virtual

setRobotState sets the robot state, which might have an influence on the rating.

Parameters

robotState the robot state.

Implemented in next_best_view::DefaultRatingModule.

virtual bool next_best_view::RatingModule::setSingleScoreContainer	(	const ViewportPoint &	currentViewport,
		ViewportPoint &	candidateViewport
	)

pure virtual

sets the score container for one filtered camera viewport Before calling this method, the method resetCache() should be called.

Parameters

currentViewport	[in] the current camera viewport
candidateViewport	[in,out] the filtered candidate camera viewport

Returns: whether the rating is feasible or not

Implemented in next_best_view::DefaultRatingModule.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation