omip::MultiJointTrackerNode Class Reference

#include <MultiJointTrackerNode.h>

Inheritance diagram for omip::MultiJointTrackerNode:

Public Member Functions
virtual void	measurementCallback (const boost::shared_ptr< ks_measurement_ros_t const > &poses_and_vels)
	Callback for the measurements for this RE level (Poses and vels of the tracker RB from the lower level, RBT) More...
	MultiJointTrackerNode ()
virtual bool	publishURDF (joint_tracker::publish_urdf::Request &request, joint_tracker::publish_urdf::Response &response)
void	ReadBag ()
void	ReadParameters ()
virtual void	statePredictionCallback (const boost::shared_ptr< ks_state_ros_t const > &predicted_next_state)
	Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy. More...
virtual	~MultiJointTrackerNode ()
Public Member Functions inherited from omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >
bool	getROSParameter (std::string param_name, T &param_container)
bool	getROSParameter (std::string param_name, T &param_container, const T &default_value)
virtual void	measurementCallback (const boost::shared_ptr< MeasurementTypeROS const > &measurement)=0
virtual void	quitCallback (const std_msgs::EmptyConstPtr &msg)
	RecursiveEstimatorNodeInterface (int num_external_state_predictors)
virtual void	run ()
virtual void	spinStatePredictorQueue (int state_prediction_queue_idx)
virtual void	statePredictionCallback (const boost::shared_ptr< StateTypeROS const > &predicted_next_state)=0
virtual	~RecursiveEstimatorNodeInterface ()

Protected Member Functions
virtual void	_generateURDF (std_msgs::String &urdf_string_msg, sensor_msgs::JointState &joint_state_msg) const
virtual void	_PrintResults () const
	Print the results of the joint tracker on the terminal. More...
virtual void	_publishPredictedMeasurement () const
	Publish the prediction about the next measurement by this RE level. More...
virtual void	_publishState () const
	Publish the current state of this RE level. More...

Protected Attributes
double	_loop_period_ns
int	_min_joint_age_for_ee
int	_processing_factor
double	_sensor_fps
std::string	_sr_path
ros::Publisher	_state_publisher_joint_states
ros::Publisher	_state_publisher_rviz_markers
ros::Publisher	_state_publisher_urdf
ros::ServiceServer	_urdf_pub_service
Protected Attributes inherited from omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >
bool	_active
ros::Time	_current_measurement_time
ros::Duration	_loop_period_ns
ros::Publisher	_measurement_prediction_publisher
ros::Subscriber	_measurement_subscriber
ros::NodeHandle	_measurements_node_handle
ros::CallbackQueue *	_measurements_queue
std::string	_namespace
ros::Subscriber	_node_quit_subscriber
int	_num_external_state_predictors
ros::Time	_previous_measurement_time
RecursiveEstimatorFilterClass *	_re_filter
std::vector< ros::NodeHandle >	_state_prediction_node_handles
ros::Publisher	_state_prediction_publisher
std::vector< ros::CallbackQueue * >	_state_prediction_queues
ros::Subscriber	_state_prediction_subscriber
std::vector< boost::thread * >	_state_predictor_listener_threads
ros::Publisher	_state_publisher

Detailed Description

Definition at line 70 of file MultiJointTrackerNode.h.

Constructor & Destructor Documentation

MultiJointTrackerNode::MultiJointTrackerNode

(

)

Constructor

Definition at line 36 of file MultiJointTrackerNode.cpp.

MultiJointTrackerNode::~MultiJointTrackerNode ( )

virtual

Destructor

Definition at line 65 of file MultiJointTrackerNode.cpp.

Member Function Documentation

void MultiJointTrackerNode::_generateURDF ( std_msgs::String &  urdf_string_msg, sensor_msgs::JointState &  joint_state_msg  ) const

protectedvirtual

Definition at line 312 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_PrintResults ( ) const

protectedvirtual

Print the results of the joint tracker on the terminal.

Definition at line 664 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_publishPredictedMeasurement ( ) const

protectedvirtual

Publish the prediction about the next measurement by this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >.

Definition at line 656 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_publishState ( ) const

protectedvirtual

Publish the current state of this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >.

Definition at line 521 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::measurementCallback ( const boost::shared_ptr< ks_measurement_ros_t const > &  poses_and_vels )

virtual

Callback for the measurements for this RE level (Poses and vels of the tracker RB from the lower level, RBT)

Parameters

poses_and_vels

Input tracked RB poses and vels

Definition at line 192 of file MultiJointTrackerNode.cpp.

bool MultiJointTrackerNode::publishURDF ( joint_tracker::publish_urdf::Request &  request, joint_tracker::publish_urdf::Response &  response  )

virtual

Definition at line 279 of file MultiJointTrackerNode.cpp.

void omip::MultiJointTrackerNode::ReadBag ( )

inline

Version to work offline. Not implemented

Definition at line 107 of file MultiJointTrackerNode.h.

void MultiJointTrackerNode::ReadParameters

(

)

Read parameters to create the JointTracker

Definition at line 69 of file MultiJointTrackerNode.cpp.

virtual void omip::MultiJointTrackerNode::statePredictionCallback ( const boost::shared_ptr< ks_state_ros_t const > &  predicted_next_state )

inlinevirtual

Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy.

Parameters

predicted_next_state

Predictions about the next state. Right now there is no higher lever (unused)

Definition at line 102 of file MultiJointTrackerNode.h.

Member Data Documentation

double omip::MultiJointTrackerNode::_loop_period_ns

protected

Definition at line 137 of file MultiJointTrackerNode.h.

int omip::MultiJointTrackerNode::_min_joint_age_for_ee

protected

Definition at line 146 of file MultiJointTrackerNode.h.

int omip::MultiJointTrackerNode::_processing_factor

protected

Definition at line 136 of file MultiJointTrackerNode.h.

double omip::MultiJointTrackerNode::_sensor_fps

protected

Definition at line 135 of file MultiJointTrackerNode.h.

std::string omip::MultiJointTrackerNode::_sr_path

protected

Definition at line 148 of file MultiJointTrackerNode.h.

ros::Publisher omip::MultiJointTrackerNode::_state_publisher_joint_states

protected

Definition at line 142 of file MultiJointTrackerNode.h.

ros::Publisher omip::MultiJointTrackerNode::_state_publisher_rviz_markers

protected

Definition at line 144 of file MultiJointTrackerNode.h.

ros::Publisher omip::MultiJointTrackerNode::_state_publisher_urdf

protected

Definition at line 140 of file MultiJointTrackerNode.h.

ros::ServiceServer omip::MultiJointTrackerNode::_urdf_pub_service

protected

Definition at line 133 of file MultiJointTrackerNode.h.

---

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

• MultiJointTrackerNode.h
• MultiJointTrackerNode.cpp