#include <object_tracker.h>

Classes
struct	MergedModelInfo

struct	NegativeUpdateInfo

Public Member Functions
	ObjectTracker ()

virtual	~ObjectTracker ()

Protected Member Functions
bool	addObjectCb (hector_worldmodel_msgs::AddObject::Request &request, hector_worldmodel_msgs::AddObject::Response &response)

ObjectModel	getMergedModel ()

ObjectModel &	getModel ()

const ObjectModel &	getModel () const

bool	getObjectModelCb (hector_worldmodel_msgs::GetObjectModel::Request &request, hector_worldmodel_msgs::GetObjectModel::Response &response)

void	imagePerceptCb (const hector_worldmodel_msgs::ImagePerceptConstPtr &)

bool	mapToNextObstacle (const geometry_msgs::Pose &source, const std_msgs::Header &header, const ObjectInfo &info, geometry_msgs::Pose &mapped)

void	modelUpdateCb (const hector_worldmodel_msgs::ObjectModelConstPtr &)

void	objectAgeingCb (const std_msgs::Float32ConstPtr &)

void	posePerceptCb (const hector_worldmodel_msgs::PosePerceptConstPtr &)

void	publishModel ()

void	publishModelEvent (const ros::TimerEvent &)

bool	setObjectNameCb (hector_worldmodel_msgs::SetObjectName::Request &request, hector_worldmodel_msgs::SetObjectName::Response &response)

bool	setObjectStateCb (hector_worldmodel_msgs::SetObjectState::Request &request, hector_worldmodel_msgs::SetObjectState::Response &response)

void	sysCommandCb (const std_msgs::StringConstPtr &)

bool	transformPose (const geometry_msgs::Pose &from, geometry_msgs::Pose &to, std_msgs::Header &header, tf::StampedTransform *transform=0)

bool	transformPose (const geometry_msgs::PoseWithCovariance &from, geometry_msgs::PoseWithCovariance &to, std_msgs::Header &header)

Private Types
typedef boost::shared_ptr< image_geometry::PinholeCameraModel >	CameraModelPtr

typedef boost::shared_ptr< MergedModelInfo >	MergedModelPtr

typedef boost::shared_ptr< NegativeUpdateInfo >	NegativeUpdatePtr

Private Member Functions
ObjectTracker::CameraModelPtr	getCameraModel (const std::string &frame_id, const sensor_msgs::CameraInfo &camera_info)

void	mergeModelCallback (const hector_worldmodel_msgs::ObjectModelConstPtr &new_model, const MergedModelPtr &info)

void	negativeUpdateCallback (const sensor_msgs::CameraInfoConstPtr &, const NegativeUpdatePtr &info)

Private Attributes
double	_ageing_threshold

std::string	_frame_id

double	_publish_interval

std::string	_worldmodel_ns

ros::ServiceServer	addObject

std::map< std::string, CameraModelPtr >	cameraModels

HectorDrawings	drawings

ros::ServiceServer	getObjectModel

ros::Subscriber	imagePerceptSubscriber

std::vector< MergedModelPtr >	merged_models

ObjectModel	model

ros::Publisher	modelPublisher

ros::Publisher	modelUpdatePublisher

ros::Subscriber	modelUpdateSubscriber

std::vector< NegativeUpdatePtr >	negativeUpdate

ros::NodeHandle	nh

ros::Subscriber	objectAgeingSubscriber

ros::Publisher	objectPoseDebugPublisher

ros::Publisher	perceptPoseDebugPublisher

ros::Subscriber	posePerceptSubscriber

ros::NodeHandle	priv_nh

ros::Timer	publishTimer

ros::ServiceServer	setObjectName

ros::ServiceServer	setObjectState

ros::Subscriber	sysCommandSubscriber

tf::TransformListener	tf

Detailed Description

Definition at line 24 of file object_tracker.h.

Member Typedef Documentation

typedef boost::shared_ptr<image_geometry::PinholeCameraModel> hector_object_tracker::ObjectTracker::CameraModelPtr

private

Definition at line 95 of file object_tracker.h.

typedef boost::shared_ptr<MergedModelInfo> hector_object_tracker::ObjectTracker::MergedModelPtr

private

Definition at line 104 of file object_tracker.h.

typedef boost::shared_ptr<NegativeUpdateInfo> hector_object_tracker::ObjectTracker::NegativeUpdatePtr

private

Definition at line 73 of file object_tracker.h.

Constructor & Destructor Documentation

hector_object_tracker::ObjectTracker::ObjectTracker ( )

Definition at line 17 of file object_tracker.cpp.

hector_object_tracker::ObjectTracker::~ObjectTracker ( )

virtual

Definition at line 208 of file object_tracker.cpp.

Member Function Documentation

bool hector_object_tracker::ObjectTracker::addObjectCb	(	hector_worldmodel_msgs::AddObject::Request &	request,
		hector_worldmodel_msgs::AddObject::Response &	response
	)

protected

Definition at line 720 of file object_tracker.cpp.

ObjectTracker::CameraModelPtr hector_object_tracker::ObjectTracker::getCameraModel	(	const std::string &	frame_id,
		const sensor_msgs::CameraInfo &	camera_info
	)

private

Definition at line 612 of file object_tracker.cpp.

ObjectModel hector_object_tracker::ObjectTracker::getMergedModel ( )

protected

Definition at line 940 of file object_tracker.cpp.

ObjectModel& hector_object_tracker::ObjectTracker::getModel ( )

inlineprotected

Definition at line 42 of file object_tracker.h.

const ObjectModel& hector_object_tracker::ObjectTracker::getModel ( ) const

inlineprotected

Definition at line 43 of file object_tracker.h.

bool hector_object_tracker::ObjectTracker::getObjectModelCb	(	hector_worldmodel_msgs::GetObjectModel::Request &	request,
		hector_worldmodel_msgs::GetObjectModel::Response &	response
	)

protected

Definition at line 779 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::imagePerceptCb ( const hector_worldmodel_msgs::ImagePerceptConstPtr & percept )

protected

Definition at line 223 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::mapToNextObstacle	(	const geometry_msgs::Pose &	source,
		const std_msgs::Header &	header,
		const ObjectInfo &	info,
		geometry_msgs::Pose &	mapped
	)

protected

Definition at line 870 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::mergeModelCallback	(	const hector_worldmodel_msgs::ObjectModelConstPtr &	new_model,
		const MergedModelPtr &	info
	)

private

Definition at line 784 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::modelUpdateCb ( const hector_worldmodel_msgs::ObjectModelConstPtr & update )

protected

Definition at line 658 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::negativeUpdateCallback	(	const sensor_msgs::CameraInfoConstPtr &	camera_info,
		const NegativeUpdatePtr &	info
	)

private

Definition at line 790 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::objectAgeingCb ( const std_msgs::Float32ConstPtr & ageing )

protected

Definition at line 629 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::posePerceptCb ( const hector_worldmodel_msgs::PosePerceptConstPtr & percept )

protected

Definition at line 330 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::publishModel ( )

protected

Definition at line 960 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::publishModelEvent ( const ros::TimerEvent & )

protected

Definition at line 956 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::setObjectNameCb	(	hector_worldmodel_msgs::SetObjectName::Request &	request,
		hector_worldmodel_msgs::SetObjectName::Response &	response
	)

protected

Definition at line 703 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::setObjectStateCb	(	hector_worldmodel_msgs::SetObjectState::Request &	request,
		hector_worldmodel_msgs::SetObjectState::Response &	response
	)

protected

Definition at line 671 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::sysCommandCb ( const std_msgs::StringConstPtr & sysCommand )

protected

Definition at line 211 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::transformPose	(	const geometry_msgs::Pose &	from,
		geometry_msgs::Pose &	to,
		std_msgs::Header &	header,
		tf::StampedTransform *	transform = `0`
	)

protected

Definition at line 907 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::transformPose	(	const geometry_msgs::PoseWithCovariance &	from,
		geometry_msgs::PoseWithCovariance &	to,
		std_msgs::Header &	header
	)

protected

Definition at line 929 of file object_tracker.cpp.

Member Data Documentation

double hector_object_tracker::ObjectTracker::_ageing_threshold

private

Definition at line 111 of file object_tracker.h.

std::string hector_object_tracker::ObjectTracker::_frame_id

private

Definition at line 108 of file object_tracker.h.

double hector_object_tracker::ObjectTracker::_publish_interval

private

Definition at line 112 of file object_tracker.h.

std::string hector_object_tracker::ObjectTracker::_worldmodel_ns

private

Definition at line 109 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::addObject

private

Definition at line 84 of file object_tracker.h.

std::map<std::string,CameraModelPtr> hector_object_tracker::ObjectTracker::cameraModels

private

Definition at line 96 of file object_tracker.h.

HectorDrawings hector_object_tracker::ObjectTracker::drawings

private

Definition at line 92 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::getObjectModel

private

Definition at line 85 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::imagePerceptSubscriber

private

Definition at line 58 of file object_tracker.h.

std::vector<MergedModelPtr> hector_object_tracker::ObjectTracker::merged_models

private

Definition at line 105 of file object_tracker.h.

ObjectModel hector_object_tracker::ObjectTracker::model

private

Definition at line 94 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::modelPublisher

private

Definition at line 77 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::modelUpdatePublisher

private

Definition at line 78 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::modelUpdateSubscriber

private

Definition at line 81 of file object_tracker.h.

std::vector<NegativeUpdatePtr> hector_object_tracker::ObjectTracker::negativeUpdate

private

Definition at line 74 of file object_tracker.h.

ros::NodeHandle hector_object_tracker::ObjectTracker::nh

private

Definition at line 56 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::objectAgeingSubscriber

private

Definition at line 61 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::objectPoseDebugPublisher

private

Definition at line 80 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::perceptPoseDebugPublisher

private

Definition at line 79 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::posePerceptSubscriber

private

Definition at line 59 of file object_tracker.h.

ros::NodeHandle hector_object_tracker::ObjectTracker::priv_nh

private

Definition at line 57 of file object_tracker.h.

ros::Timer hector_object_tracker::ObjectTracker::publishTimer

private

Definition at line 88 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::setObjectName

private

Definition at line 86 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::setObjectState

private

Definition at line 83 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::sysCommandSubscriber

private

Definition at line 60 of file object_tracker.h.

tf::TransformListener hector_object_tracker::ObjectTracker::tf

private

Definition at line 90 of file object_tracker.h.

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

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation