ProbabilisticPrimarySceneObjectVisualization.h
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1 
18 # pragma once
19 
20 // Global includes
21 #include <map>
22 #include <vector>
23 
24 // Package includes
25 #include <ros/ros.h>
26 #include <std_msgs/ColorRGBA.h>
27 #include <visualization_msgs/Marker.h>
28 #include <visualization_msgs/MarkerArray.h>
29 
30 #include <tf/LinearMath/Vector3.h>
33 #include <tf/transform_datatypes.h>
34 
35 #include <Eigen/Core>
36 #include <Eigen/Geometry>
37 
38 #include <Pose.h>
39 #include <ISM/common_type/Pose.hpp>
40 
41 // Local includes
43 
47 
48 #include "helper/ColorHelper.h"
49 
50 namespace Visualization
51 {
59  {
60  public:
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88  void setDrawingParameters(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId);
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109  void setLearningSamples(const std::vector<Eigen::Vector3d>& pSamples);
110 
117  void drawInTargetingMode(const std::string pScene, const std_msgs::ColorRGBA& pColor);
118 
126  void drawInInferenceMode(const std::string pScene, const std_msgs::ColorRGBA& pColor, unsigned int& pMarkerId);
127 
134  void drawInLearningMode(const std::string pScene, const std_msgs::ColorRGBA& pColor);
135 
141  void drawInLearningTrajectoryMode(const std::string pScene);
142 
148  std::string getSceneObjectName();
149 
157  void addTermScore(double pScore);
158 
162  void resetTermScores();
163 
169  void setHypothesisScore(double pHypothesisScore);
170 
176  void normalizeHypothesisScore(unsigned int pNumberOfSlots);
177 
183  void setBestStatus(bool pStatus);
184 
188  void resetHypothesis();
189 
190  private:
191 
195  std::string mSceneObject;
196 
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235  std::vector<double> mTermScores, mBestTermScores;
236 
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251 
255  std::vector<boost::shared_ptr<ProbabilisticSecondarySceneObjectVisualization> > mSceneObjectVisualizers;
256 
260  std::vector<Eigen::Vector3d> mSamples;
261  };
262 }
void drawInInferenceMode(const std::string pScene, const std_msgs::ColorRGBA &pColor, unsigned int &pMarkerId)
void drawInTargetingMode(const std::string pScene, const std_msgs::ColorRGBA &pColor)
void setDrawingParameters(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId)
void drawInLearningMode(const std::string pScene, const std_msgs::ColorRGBA &pColor)
void appendVisualizer(boost::shared_ptr< ProbabilisticSecondarySceneObjectVisualization > pVisualizer)
std::vector< boost::shared_ptr< ProbabilisticSecondarySceneObjectVisualization > > mSceneObjectVisualizers


asr_psm_visualizations
Author(s): Gehrung Joachim, Meißner Pascal
autogenerated on Sat Nov 9 2019 03:49:13