#include <WorldModelROS.h>

Public Member Functions
const std::list< SemanticObject * > &	getMAPObjects () const

void	processEvidence (const ros::Duration max_duration)

void	processEvidence (const wire_msgs::WorldEvidence &world_evidence_msg)

void	publish () const

void	registerEvidenceTopic (const std::string &topic_name)

void	showStatistics () const

void	start ()

void	startThreaded ()

	WorldModelROS (tf::TransformListener *tf_listener=0)

virtual	~WorldModelROS ()

Protected Member Functions
void	evidenceCallback (const wire_msgs::WorldEvidence::ConstPtr &world_evidence_msg)

bool	hypothesisToMsg (const mhf::Hypothesis &hyp, wire_msgs::WorldState &msg) const

bool	initialize ()

void	initializeMHF ()

bool	objectToMsg (const SemanticObject &obj, wire_msgs::ObjectState &msg) const

void	printWorldObjects (const mhf::Hypothesis &hyp) const

bool	resetWorldModel (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

void	shutdown ()

bool	transformOrientation (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const

bool	transformPosition (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const

Protected Attributes
std::list< wire_msgs::WorldEvidence >	evidence_buffer_

bool	is_tf_owner_

ros::Time	last_update_

double	last_update_duration

double	loop_rate_

int	max_num_hyps_

double	max_update_duration

double	min_prob_ratio_

std::string	output_frame_id_

boost::thread	processing_thread_

ros::Publisher	pub_wm_

ros::ServiceServer	srv_reset_

std::list< ros::Subscriber >	subs_evidence_

tf::TransformListener *	tf_listener_

std::stringstream	warnings_

mhf::HypothesisTree *	world_model_

std::string	world_model_frame_id_

Detailed Description

Definition at line 34 of file WorldModelROS.h.

Constructor & Destructor Documentation

WorldModelROS::WorldModelROS ( tf::TransformListener * tf_listener = 0 )

Definition at line 20 of file WorldModelROS.cpp.

WorldModelROS::~WorldModelROS ( )

virtual

Definition at line 27 of file WorldModelROS.cpp.

Member Function Documentation

void WorldModelROS::evidenceCallback ( const wire_msgs::WorldEvidence::ConstPtr & world_evidence_msg )

protected

Definition at line 212 of file WorldModelROS.cpp.

const list< SemanticObject * > & WorldModelROS::getMAPObjects ( ) const

Definition at line 319 of file WorldModelROS.cpp.

bool WorldModelROS::hypothesisToMsg	(	const mhf::Hypothesis &	hyp,
		wire_msgs::WorldState &	msg
	)		const

protected

Definition at line 133 of file WorldModelROS.cpp.

bool WorldModelROS::initialize ( )

protected

Definition at line 43 of file WorldModelROS.cpp.

void mhf::WorldModelROS::initializeMHF ( )

protected

bool WorldModelROS::objectToMsg	(	const SemanticObject &	obj,
		wire_msgs::ObjectState &	msg
	)		const

protected

Definition at line 116 of file WorldModelROS.cpp.

void mhf::WorldModelROS::printWorldObjects ( const mhf::Hypothesis & hyp ) const

protected

void WorldModelROS::processEvidence ( const ros::Duration max_duration )

Definition at line 216 of file WorldModelROS.cpp.

void WorldModelROS::processEvidence ( const wire_msgs::WorldEvidence & world_evidence_msg )

Definition at line 233 of file WorldModelROS.cpp.

void WorldModelROS::publish ( ) const

Definition at line 310 of file WorldModelROS.cpp.

void WorldModelROS::registerEvidenceTopic ( const std::string & topic_name )

Definition at line 88 of file WorldModelROS.cpp.

bool WorldModelROS::resetWorldModel	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protected

Definition at line 304 of file WorldModelROS.cpp.

void WorldModelROS::showStatistics ( ) const

Definition at line 323 of file WorldModelROS.cpp.

void mhf::WorldModelROS::shutdown ( )

protected

void WorldModelROS::start ( )

Definition at line 97 of file WorldModelROS.cpp.

void WorldModelROS::startThreaded ( )

Definition at line 93 of file WorldModelROS.cpp.

bool WorldModelROS::transformOrientation	(	const pbl::PDF &	pdf_in,
		const std::string &	frame_in,
		pbl::Gaussian &	pdf_out
	)		const

protected

Definition at line 184 of file WorldModelROS.cpp.

bool WorldModelROS::transformPosition	(	const pbl::PDF &	pdf_in,
		const std::string &	frame_in,
		pbl::Gaussian &	pdf_out
	)		const

protected

Definition at line 156 of file WorldModelROS.cpp.

Member Data Documentation

std::list<wire_msgs::WorldEvidence> mhf::WorldModelROS::evidence_buffer_

protected

Definition at line 65 of file WorldModelROS.h.

bool mhf::WorldModelROS::is_tf_owner_

protected

Definition at line 72 of file WorldModelROS.h.

ros::Time mhf::WorldModelROS::last_update_

protected

Definition at line 98 of file WorldModelROS.h.

double mhf::WorldModelROS::last_update_duration

protected

Definition at line 83 of file WorldModelROS.h.

double mhf::WorldModelROS::loop_rate_

protected

Definition at line 62 of file WorldModelROS.h.

int mhf::WorldModelROS::max_num_hyps_

protected

Definition at line 94 of file WorldModelROS.h.

double mhf::WorldModelROS::max_update_duration

protected

Definition at line 84 of file WorldModelROS.h.

double mhf::WorldModelROS::min_prob_ratio_

protected

Definition at line 96 of file WorldModelROS.h.

std::string mhf::WorldModelROS::output_frame_id_

protected

Definition at line 90 of file WorldModelROS.h.

boost::thread mhf::WorldModelROS::processing_thread_

protected

Definition at line 60 of file WorldModelROS.h.

ros::Publisher mhf::WorldModelROS::pub_wm_

protected

Definition at line 75 of file WorldModelROS.h.

ros::ServiceServer mhf::WorldModelROS::srv_reset_

protected

Definition at line 80 of file WorldModelROS.h.

std::list<ros::Subscriber> mhf::WorldModelROS::subs_evidence_

protected

Definition at line 78 of file WorldModelROS.h.

tf::TransformListener* mhf::WorldModelROS::tf_listener_

protected

Definition at line 71 of file WorldModelROS.h.

std::stringstream mhf::WorldModelROS::warnings_

protected

Definition at line 92 of file WorldModelROS.h.

mhf::HypothesisTree* mhf::WorldModelROS::world_model_

protected

Definition at line 68 of file WorldModelROS.h.

std::string mhf::WorldModelROS::world_model_frame_id_

protected

Definition at line 87 of file WorldModelROS.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation