#include <asrPosePredictionEngine.h>

Public Member Functions
	asrPosePredictionEngine (std::string pathToXML, std::string sceneName, std::vector< boost::shared_ptr< asr_msgs::AsrObject >> objects, int votes, std::string base_frame)

	asrPosePredictionEngine (std::string pathToXML, std::string sceneName, std::string reference_object_name, Eigen::Vector3f reference_object_position, Eigen::Vector4f reference_object_orientation, int votes, std::string base_frame)

unsigned int	getNumberOfMissingObjects ()

ASR::asrSceneGraphNodePtr	getSceneGraphRoot ()

void	publishHypothesisMessages (std::vector< ASR::AttributedPoint > hypothesis_list)

Private Attributes
std::string	baseFrameId

std::vector< boost::shared_ptr< asr_msgs::AsrObject > >	evidence_buffer

ros::Publisher	hypothesis_publisher

ProbabilisticSceneRecognition::ObjectTransformation	mObjectTransform

int	number_objects_in_scene

int	number_obsereved_objects

int	number_of_votes

std::string	path

bool	print_debug_messages

bool	publish_hypothesis

std::string	publish_hypothesis_topic

std::string	reference_object

ASR::asrSceneGraphNodePtr	root

std::string	scene_name

int	votes_per_node

Detailed Description

This class provides a interface to build a psm scene graph and to generate hypothesis for the poses of the unobserved objects in the scene. Observed objects can be marked as explored and the scene graph and the hypothesis are then updated.

Definition at line 46 of file asrPosePredictionEngine.h.

Constructor & Destructor Documentation

ASR::asrPosePredictionEngine::asrPosePredictionEngine	(	std::string	pathToXML,
		std::string	sceneName,
		std::vector< boost::shared_ptr< asr_msgs::AsrObject >>	objects,
		int	votes = `100`,
		std::string	base_frame = `"/map"`
	)

Builds a scene graph which is described in the scene model xml file. The given objects are integreted into the scene graph.

Parameters

pathToXML	- the path to the scene model xml file. The model has to be formatted like the models from the probabilistic scene model.
sceneName	- the name of the scene. Only hypothesis for this scene are generated.
objects	- the list of the observed objects which should be integrated. The first object is the reference object.
votes	- the overall number of hypothesis that should be generated. The amount of votes is distributed over all unobserved objects.
base_frame	- the id of the base coordinate system all objects and hypothesis should be transformed to

Definition at line 23 of file asrPosePredictionEngine.cpp.

ASR::asrPosePredictionEngine::asrPosePredictionEngine	(	std::string	pathToXML,
		std::string	sceneName,
		std::string	reference_object_name,
		Eigen::Vector3f	reference_object_position,
		Eigen::Vector4f	reference_object_orientation,
		int	votes = `100`,
		std::string	base_frame = `"/map"`
	)

Builds a scene graph which is described in the scene model xml file.

Parameters

pathToXML	- the path to the scene model xml file. The model has to be formatted like the models from the probabilistic scene model.
sceneName	- the name of the scene. Only hypothesis for this scene are generated.
reference_object_name	- the name of the reference object. This can be the first observed object.
reference_object_position	- the position of the reference object. All generated hypotheses are ralative to the position of the reference object.
votes	- the overall number of hypothesis that should be generated. The amount of votes is distributed over all unobserved objects.
base_frame	- the id of the base coordinate system all objects and hypothesis should be transformed to

Definition at line 94 of file asrPosePredictionEngine.cpp.

Member Function Documentation

unsigned int ASR::asrPosePredictionEngine::getNumberOfMissingObjects ( )

inline

Returns the number of unobserved objects in the scene.

Returns: number of unobserved objects in the scene

Definition at line 118 of file asrPosePredictionEngine.h.

ASR::asrSceneGraphNodePtr ASR::asrPosePredictionEngine::getSceneGraphRoot ( )

inline

Returns the root node of the scene graph

Returns: the root node of the scene graph

Definition at line 125 of file asrPosePredictionEngine.h.

void ASR::asrPosePredictionEngine::publishHypothesisMessages ( std::vector< ASR::AttributedPoint > hypothesis_list )

Publishs the given points as GEOMETRY::MSG::POSE under the in the launch file defined topic. This standart topic name is "pose_prediction_psm_hypothesis"

Parameters

hypothesis_list - the list of AttributedPoints that should be published.

Definition at line 360 of file asrPosePredictionEngine.cpp.

Member Data Documentation

std::string ASR::asrPosePredictionEngine::baseFrameId

private

Definition at line 66 of file asrPosePredictionEngine.h.

std::vector<boost::shared_ptr<asr_msgs::AsrObject> > ASR::asrPosePredictionEngine::evidence_buffer

private

Definition at line 76 of file asrPosePredictionEngine.h.

ros::Publisher ASR::asrPosePredictionEngine::hypothesis_publisher

private

Definition at line 75 of file asrPosePredictionEngine.h.

ProbabilisticSceneRecognition::ObjectTransformation ASR::asrPosePredictionEngine::mObjectTransform

private

Definition at line 69 of file asrPosePredictionEngine.h.

int ASR::asrPosePredictionEngine::number_objects_in_scene

private

Definition at line 61 of file asrPosePredictionEngine.h.

int ASR::asrPosePredictionEngine::number_obsereved_objects

private

Definition at line 60 of file asrPosePredictionEngine.h.

int ASR::asrPosePredictionEngine::number_of_votes

private

Definition at line 62 of file asrPosePredictionEngine.h.

std::string ASR::asrPosePredictionEngine::path

private

Definition at line 51 of file asrPosePredictionEngine.h.

bool ASR::asrPosePredictionEngine::print_debug_messages

private

Definition at line 73 of file asrPosePredictionEngine.h.

bool ASR::asrPosePredictionEngine::publish_hypothesis

private

Definition at line 72 of file asrPosePredictionEngine.h.

std::string ASR::asrPosePredictionEngine::publish_hypothesis_topic

private

Definition at line 74 of file asrPosePredictionEngine.h.

std::string ASR::asrPosePredictionEngine::reference_object

private

Definition at line 53 of file asrPosePredictionEngine.h.

ASR::asrSceneGraphNodePtr ASR::asrPosePredictionEngine::root

private

Definition at line 58 of file asrPosePredictionEngine.h.

std::string ASR::asrPosePredictionEngine::scene_name

private

Definition at line 55 of file asrPosePredictionEngine.h.

int ASR::asrPosePredictionEngine::votes_per_node

private

Definition at line 63 of file asrPosePredictionEngine.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation