ProbabilisticSecondarySceneObjectVisualization.h
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1 
18 # pragma once
19 
20 // Global includes
21 #include <map>
22 #include <utility>
23 #include <vector>
24 #include <math.h>
25 
26 // Package includes
27 #include <ros/ros.h>
28 #include <std_msgs/ColorRGBA.h>
29 #include <visualization_msgs/Marker.h>
30 #include <visualization_msgs/MarkerArray.h>
31 
32 #include <Eigen/Core>
33 #include <Eigen/Geometry>
34 #include <Eigen/Eigenvalues>
35 
36 #include <Pose.h>
37 #include <ISM/common_type/Pose.hpp>
38 
39 // Local includes
44 
45 namespace Visualization
46 {
54  {
55  public:
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81  void setDrawingParameters(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId);
82 
88  void setNamespace(std::string pNamespace);
89 
96  void setColors(const std_msgs::ColorRGBA& pFirstRingColor, const std_msgs::ColorRGBA& pSecondRingColor);
97 
103  void setDetectionCertainty(double pCertainty);
104 
108  void resetCertainty();
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129  void setBestPoseCandidate(double pScore);
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145  void setAbsoluteLearningSamples(const std::vector<Eigen::Vector3d>& pRelativeSamples,
146  const std::vector<Eigen::Vector3d>& pAbsoluteSamples,
147  const std::vector<Eigen::Vector3d>& pAbsoluteParentSamples);
148 
153  void overwriteLastBestPose();
154 
162 
168  void visualizeGaussianKernels(unsigned int& pMarkerId);
169 
175  void visualizeObjectPositionAsArrow(unsigned int& pMarkerId);
176 
182  void visualizeKinematicChain(unsigned int& pMarkerId);
183 
189  void visualizeRelativeTrajectory(unsigned int& pMarkerId);
190 
196  void visualizeAbsoluteTrajectory(unsigned int& pMarkerId);
197 
198  private:
199 
203  std::string mSceneObject;
204 
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238  double mCertainty;
239 
243  double mBestScore;
244 
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273  std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d> > mKernels;
274 
279  };
280 }
void setColors(const std_msgs::ColorRGBA &pFirstRingColor, const std_msgs::ColorRGBA &pSecondRingColor)
void setDrawingParameters(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId)
void setAbsoluteLearningSamples(const std::vector< Eigen::Vector3d > &pRelativeSamples, const std::vector< Eigen::Vector3d > &pAbsoluteSamples, const std::vector< Eigen::Vector3d > &pAbsoluteParentSamples)
void appendKernel(const boost::shared_ptr< Eigen::Vector3d > &pMean, const boost::shared_ptr< Eigen::Matrix3d > &pCovariance)


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