hector_object_tracker::Object Class Reference

#include <Object.h>

Public Types
typedef boost::shared_ptr< Object const >	ConstPtr
typedef hector_worldmodel_msgs::ObjectState::_state_type	StateType

Public Member Functions
void	addSupport (float support)
const std::string &	getClassId () const
const Eigen::Matrix3f &	getCovariance () const
void	getCovariance (geometry_msgs::PoseWithCovariance::_covariance_type &covariance) const
double	getDistance (const Object &other)
std_msgs::Header	getHeader () const
void	getMessage (hector_worldmodel_msgs::Object &object) const
hector_worldmodel_msgs::Object	getMessage () const
const std::string &	getName () const
const std::string &	getObjectId () const
const Eigen::Quaternionf &	getOrientation () const
void	getPose (geometry_msgs::Pose &pose) const
void	getPose (tf::Pose &pose) const
void	getPoseWithCovariance (geometry_msgs::PoseWithCovariance &pose) const
const Eigen::Vector3f &	getPosition () const
ros::Time	getStamp () const
StateType	getState () const
float	getSupport () const
void	getVisualization (visualization_msgs::MarkerArray &markers) const
void	intersect (const tf::Pose &poseB, const Eigen::Matrix3f &covarianceB, float support)
	Object (const std::string class_id="", const std::string object_id="")
	Object (const hector_worldmodel_msgs::Object &other)
Object &	operator= (const hector_worldmodel_msgs::Object &other)
void	setCovariance (const Eigen::Matrix3f &covariance)
void	setCovariance (const tf::Matrix3x3 &covariance)
void	setCovariance (const geometry_msgs::PoseWithCovariance::_covariance_type &covariance)
void	setHeader (const std_msgs::Header &header)
void	setName (const std::string &name)
void	setObjectId (const std::string &object_id)
void	setOrientation (const geometry_msgs::Quaternion &orientation)
void	setOrientation (const tf::Quaternion &orientation)
void	setPose (const geometry_msgs::PoseWithCovariance &pose)
void	setPose (const geometry_msgs::Pose &pose)
void	setPose (const tf::Pose &pose)
void	setPosition (const Eigen::Vector3f &position)
void	setPosition (const geometry_msgs::Point &position)
void	setPosition (const tf::Point &point)
void	setState (const StateType &state)
void	setSupport (float support)
ObjectPtr	transform (tf::Transformer &tf, const std::string &target_frame) const
ObjectPtr	transform (tf::Transformer &tf, const std::string &target_frame, const ros::Time &target_time) const
void	update (const tf::Pose &poseB, const Eigen::Matrix3f &covarianceB, float support)
void	updateOrientation (const tf::Quaternion &orientationB, double slerp_factor)
virtual	~Object ()

Static Public Member Functions
static void	reset ()
static void	setNamespace (const std::string &ns)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< Object >	Ptr

Private Attributes
Eigen::Matrix3f	covariance
std_msgs::Header	header
ObjectInfo	info
ros::NodeHandle	nh
Eigen::Quaternionf	orientation
Eigen::Vector3f	position
ObjectState	state

Static Private Attributes
static std::map< std::string, unsigned int >	object_count
static std::string	object_namespace

Detailed Description

Definition at line 17 of file Object.h.

Member Typedef Documentation

typedef boost::shared_ptr<Object const> hector_object_tracker::Object::ConstPtr

Definition at line 23 of file Object.h.

typedef hector_worldmodel_msgs::ObjectState::_state_type hector_object_tracker::Object::StateType

Definition at line 24 of file Object.h.

Constructor & Destructor Documentation

hector_object_tracker::Object::Object	(	const std::string	class_id = "",
		const std::string	object_id = ""
	)

Definition at line 13 of file Object.cpp.

hector_object_tracker::Object::Object

(

const hector_worldmodel_msgs::Object &

other

)

Definition at line 30 of file Object.cpp.

hector_object_tracker::Object::~Object ( )

virtual

Definition at line 34 of file Object.cpp.

Member Function Documentation

void hector_object_tracker::Object::addSupport ( float  support )

inline

Definition at line 79 of file Object.h.

const std::string& hector_object_tracker::Object::getClassId ( ) const

inline

Definition at line 59 of file Object.h.

const Eigen::Matrix3f & hector_object_tracker::Object::getCovariance

(

)

const

Definition at line 127 of file Object.cpp.

void hector_object_tracker::Object::getCovariance

(

geometry_msgs::PoseWithCovariance::_covariance_type &

covariance

)

const

Definition at line 131 of file Object.cpp.

double hector_object_tracker::Object::getDistance

(

const Object &

other

)

Definition at line 320 of file Object.cpp.

std_msgs::Header hector_object_tracker::Object::getHeader ( ) const

inline

Definition at line 97 of file Object.h.

void hector_object_tracker::Object::getMessage

(

hector_worldmodel_msgs::Object &

object

)

const

Definition at line 41 of file Object.cpp.

hector_worldmodel_msgs::Object hector_object_tracker::Object::getMessage

(

)

const

Definition at line 48 of file Object.cpp.

const std::string& hector_object_tracker::Object::getName ( ) const

inline

Definition at line 89 of file Object.h.

const std::string& hector_object_tracker::Object::getObjectId ( ) const

inline

Definition at line 63 of file Object.h.

const Eigen::Quaternionf & hector_object_tracker::Object::getOrientation

(

)

const

Definition at line 112 of file Object.cpp.

void hector_object_tracker::Object::getPose

(

geometry_msgs::Pose &

pose

)

const

Definition at line 64 of file Object.cpp.

void hector_object_tracker::Object::getPose

(

tf::Pose &

pose

)

const

void hector_object_tracker::Object::getPoseWithCovariance

(

geometry_msgs::PoseWithCovariance &

pose

)

const

Definition at line 54 of file Object.cpp.

const Eigen::Vector3f & hector_object_tracker::Object::getPosition

(

)

const

Definition at line 95 of file Object.cpp.

ros::Time hector_object_tracker::Object::getStamp ( ) const

inline

Definition at line 105 of file Object.h.

StateType hector_object_tracker::Object::getState ( ) const

inline

Definition at line 83 of file Object.h.

float hector_object_tracker::Object::getSupport ( ) const

inline

Definition at line 71 of file Object.h.

void hector_object_tracker::Object::getVisualization

(

visualization_msgs::MarkerArray &

markers

)

const

Definition at line 217 of file Object.cpp.

void hector_object_tracker::Object::intersect	(	const tf::Pose &	poseB,
		const Eigen::Matrix3f &	covarianceB,
		float	support
	)

Definition at line 165 of file Object.cpp.

Object & hector_object_tracker::Object::operator=

(

const hector_worldmodel_msgs::Object &

other

)

Definition at line 280 of file Object.cpp.

void hector_object_tracker::Object::reset ( )

static

Definition at line 37 of file Object.cpp.

void hector_object_tracker::Object::setCovariance

(

const Eigen::Matrix3f &

covariance

)

Definition at line 143 of file Object.cpp.

void hector_object_tracker::Object::setCovariance

(

const tf::Matrix3x3 &

covariance

)

Definition at line 147 of file Object.cpp.

void hector_object_tracker::Object::setCovariance

(

const geometry_msgs::PoseWithCovariance::_covariance_type &

covariance

)

Definition at line 153 of file Object.cpp.

void hector_object_tracker::Object::setHeader ( const std_msgs::Header &  header )

inline

Definition at line 101 of file Object.h.

void hector_object_tracker::Object::setName ( const std::string &  name )

inline

Definition at line 93 of file Object.h.

void hector_object_tracker::Object::setNamespace ( const std::string &  ns )

static

Definition at line 276 of file Object.cpp.

void hector_object_tracker::Object::setObjectId ( const std::string &  object_id )

inline

Definition at line 67 of file Object.h.

void hector_object_tracker::Object::setOrientation

(

const geometry_msgs::Quaternion &

orientation

)

Definition at line 117 of file Object.cpp.

void hector_object_tracker::Object::setOrientation

(

const tf::Quaternion &

orientation

)

Definition at line 122 of file Object.cpp.

void hector_object_tracker::Object::setPose

(

const geometry_msgs::PoseWithCovariance &

pose

)

Definition at line 59 of file Object.cpp.

void hector_object_tracker::Object::setPose

(

const geometry_msgs::Pose &

pose

)

Definition at line 81 of file Object.cpp.

void hector_object_tracker::Object::setPose

(

const tf::Pose &

pose

)

void hector_object_tracker::Object::setPosition

(

const Eigen::Vector3f &

position

)

Definition at line 99 of file Object.cpp.

void hector_object_tracker::Object::setPosition

(

const geometry_msgs::Point &

position

)

Definition at line 103 of file Object.cpp.

void hector_object_tracker::Object::setPosition

(

const tf::Point &

point

)

void hector_object_tracker::Object::setState

(

const StateType &

state

)

Definition at line 159 of file Object.cpp.

void hector_object_tracker::Object::setSupport ( float  support )

inline

Definition at line 75 of file Object.h.

ObjectPtr hector_object_tracker::Object::transform	(	tf::Transformer &	tf,
		const std::string &	target_frame
	)		const

Definition at line 288 of file Object.cpp.

ObjectPtr hector_object_tracker::Object::transform	(	tf::Transformer &	tf,
		const std::string &	target_frame,
		const ros::Time &	target_time
	)		const

Definition at line 293 of file Object.cpp.

void hector_object_tracker::Object::update	(	const tf::Pose &	poseB,
		const Eigen::Matrix3f &	covarianceB,
		float	support
	)

Definition at line 185 of file Object.cpp.

void hector_object_tracker::Object::updateOrientation	(	const tf::Quaternion &	orientationB,
		double	slerp_factor
	)

Definition at line 204 of file Object.cpp.

Member Data Documentation

Eigen::Matrix3f hector_object_tracker::Object::covariance

private

Definition at line 130 of file Object.h.

std_msgs::Header hector_object_tracker::Object::header

private

Definition at line 124 of file Object.h.

ObjectInfo hector_object_tracker::Object::info

private

Definition at line 125 of file Object.h.

ros::NodeHandle hector_object_tracker::Object::nh

private

Definition at line 123 of file Object.h.

std::map< std::string, unsigned int > hector_object_tracker::Object::object_count

staticprivate

Definition at line 132 of file Object.h.

std::string hector_object_tracker::Object::object_namespace

staticprivate

Definition at line 133 of file Object.h.

Eigen::Quaternionf hector_object_tracker::Object::orientation

private

Definition at line 129 of file Object.h.

Eigen::Vector3f hector_object_tracker::Object::position

private

Definition at line 128 of file Object.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr<Object> hector_object_tracker::Object::Ptr

Definition at line 22 of file Object.h.

ObjectState hector_object_tracker::Object::state

private

Definition at line 126 of file Object.h.

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

• Object.h
• Object.cpp