A collection of target objects that are searched, tracked, and rescued by the CPSs. More...

#include <targets.h>

Public Member Functions
void	publish (unsigned int id)
	Publish a target position event for the given target. More...

void	simulate ()
	Read simulated targets from parameter file. More...

	targets ()
	Constructor that initializes the private member variables. More...

void	update (geometry_msgs::Pose pose)
	Update the state of all targets. If no update has been received for a target within a fixed period, its state will change to TARGET_LOST. This needs to be called periodically. More...

void	update (cpswarm_msgs::TargetPositionEvent msg, target_state_t state)
	Update the information of a target. More...

Private Member Functions
void	publish_event (string event, int id)
	Publish a target position event. More...

geometry_msgs::Transform	transform (geometry_msgs::Pose p1, geometry_msgs::Pose p2) const
	Compute the transformation between two poses. More...

void	uuid_callback (const swarmros::String::ConstPtr &msg)
	Callback function to receive the UUID from the communication library. More...

Private Attributes
string	cps
	The UUID of the CPS that owns this class instance. More...

double	fov
	Range of the target tracking camera in meter. It is used to simulate target detection. Targets within this distance are detected by the CPS. More...

NodeHandle	nh
	A node handle for the main ROS node. More...

unordered_map< unsigned int, shared_ptr< target > >	simulated_targets
	A map holding ID and target object of simulated targets, including the ones not yet found. More...

Publisher	target_done_pub
	Publisher for transmitting information about completed targets locally to other nodes and remotely to other CPSs. More...

Publisher	target_found_pub
	Publisher for transmitting information about found targets locally to other nodes and remotely to other CPSs. More...

Publisher	target_lost_pub
	Publisher for transmitting information about lost targets locally to other nodes and remotely to other CPSs. More...

unordered_map< unsigned int, shared_ptr< target > >	target_map
	A map holding ID and target object of all known targets. More...

Publisher	target_update_pub
	Publisher for transmitting updated information about targets locally to other nodes and remotely to other CPSs. More...

Publisher	tracking_pub
	Publisher for transmitting target tracking information in simulation. More...

Detailed Description

A collection of target objects that are searched, tracked, and rescued by the CPSs.

Definition at line 16 of file targets.h.

Constructor & Destructor Documentation

targets::targets ( )

Constructor that initializes the private member variables.

Definition at line 3 of file targets.cpp.

Member Function Documentation

void targets::publish ( unsigned int id )

Publish a target position event for the given target.

Parameters

id	The ID of the target.

void targets::publish_event	(	string	event,
		int	id
	)

private

Publish a target position event.

Parameters

event	The name of the event.
id	The ID of the target.

Definition at line 134 of file targets.cpp.

void targets::simulate ( )

Read simulated targets from parameter file.

Definition at line 39 of file targets.cpp.

geometry_msgs::Transform targets::transform	(	geometry_msgs::Pose	p1,
		geometry_msgs::Pose	p2
	)		const

private

Compute the transformation between two poses.

Parameters

p1	The first pose.
p2	The second pose.

Returns: The computed transformation.

Definition at line 163 of file targets.cpp.

void targets::update ( geometry_msgs::Pose pose )

Update the state of all targets. If no update has been received for a target within a fixed period, its state will change to TARGET_LOST. This needs to be called periodically.

Parameters

pose	The current position of the CPS.

Definition at line 62 of file targets.cpp.

void targets::update	(	cpswarm_msgs::TargetPositionEvent	msg,
		target_state_t	state
	)

Update the information of a target.

Parameters

msg	The target position event message.
state	The target state.

Definition at line 91 of file targets.cpp.

void targets::uuid_callback ( const swarmros::String::ConstPtr & msg )

private

Callback function to receive the UUID from the communication library.

Parameters

msg	UUID of this node.

Definition at line 193 of file targets.cpp.

Member Data Documentation

string targets::cps

private

The UUID of the CPS that owns this class instance.

Definition at line 114 of file targets.h.

double targets::fov

private

Range of the target tracking camera in meter. It is used to simulate target detection. Targets within this distance are detected by the CPS.

Definition at line 119 of file targets.h.

NodeHandle targets::nh

private

A node handle for the main ROS node.

Definition at line 74 of file targets.h.

unordered_map<unsigned int, shared_ptr<target> > targets::simulated_targets

private

A map holding ID and target object of simulated targets, including the ones not yet found.

Definition at line 109 of file targets.h.

Publisher targets::target_done_pub

private

Publisher for transmitting information about completed targets locally to other nodes and remotely to other CPSs.

Definition at line 99 of file targets.h.

Publisher targets::target_found_pub

private

Publisher for transmitting information about found targets locally to other nodes and remotely to other CPSs.

Definition at line 84 of file targets.h.

Publisher targets::target_lost_pub

private

Publisher for transmitting information about lost targets locally to other nodes and remotely to other CPSs.

Definition at line 94 of file targets.h.

unordered_map<unsigned int, shared_ptr<target> > targets::target_map

private

A map holding ID and target object of all known targets.

Definition at line 104 of file targets.h.

Publisher targets::target_update_pub

private

Publisher for transmitting updated information about targets locally to other nodes and remotely to other CPSs.

Definition at line 89 of file targets.h.

Publisher targets::tracking_pub

private

Publisher for transmitting target tracking information in simulation.

Definition at line 79 of file targets.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation