#include <tracking.hpp>

Public Member Functions
	ARMarkerTracking ()

bool	init ()

void	spin ()

virtual	~ARMarkerTracking ()

Protected Member Functions
void	arPoseMarkersCB (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg)

bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarker &closest_marker)

bool	closest (const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)

bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)

virtual void	customCB (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const std::vector< TrackedMarker > &tracked_markers)

bool	excluded (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v)

bool	included (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v, ar_track_alvar_msgs::AlvarMarker *e=NULL)

void	maintainTrackedMarker (TrackedMarker &marker, const ar_track_alvar_msgs::AlvarMarker &msgMarker, const int obs_list_max_size, const double max_valid_d_inc, const double max_valid_h_inc)

void	maintainTrackedMarkers (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg, std::vector< TrackedMarker > &tracked_markers)

bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)

bool	spotted (double younger_than, const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)

bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted)

Protected Attributes
double	ar_tracker_freq_

double	max_reliable_dist_

double	max_reliable_head_

double	max_tracking_time_

double	max_valid_d_inc_

double	max_valid_h_inc_

double	min_penalized_dist_

double	min_penalized_head_

ar_track_alvar_msgs::AlvarMarkers	spotted_markers_

ros::Subscriber	sub_ar_markers_

std::vector< TrackedMarker >	tracked_markers_

Detailed Description

Definition at line 121 of file tracking.hpp.

Constructor & Destructor Documentation

yocs::ARMarkerTracking::ARMarkerTracking ( )

Definition at line 17 of file tracking.cpp.

yocs::ARMarkerTracking::~ARMarkerTracking ( )

virtual

Definition at line 21 of file tracking.cpp.

Member Function Documentation

void yocs::ARMarkerTracking::arPoseMarkersCB ( const ar_track_alvar_msgs::AlvarMarkers::ConstPtr & msg )

protected

Definition at line 51 of file tracking.cpp.

bool yocs::ARMarkerTracking::closest	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)

protected

Definition at line 122 of file utils.cpp.

bool yocs::ARMarkerTracking::closest	(	const ar_track_alvar_msgs::AlvarMarkers &	including,
		const ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)

protected

Definition at line 46 of file utils.cpp.

bool yocs::ARMarkerTracking::closest	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarker &	closest_marker
	)

protected

Definition at line 142 of file utils.cpp.

virtual void yocs::ARMarkerTracking::customCB	(	const ar_track_alvar_msgs::AlvarMarkers &	spotted_markers,
		const std::vector< TrackedMarker > &	tracked_markers
	)

inlineprotectedvirtual

Definition at line 136 of file tracking.hpp.

bool yocs::ARMarkerTracking::excluded	(	const uint32_t	id,
		const ar_track_alvar_msgs::AlvarMarkers &	v
	)

protected

Definition at line 181 of file utils.cpp.

bool yocs::ARMarkerTracking::included	(	const uint32_t	id,
		const ar_track_alvar_msgs::AlvarMarkers &	v,
		ar_track_alvar_msgs::AlvarMarker *	e = `NULL`
	)

protected

Definition at line 164 of file utils.cpp.

bool yocs::ARMarkerTracking::init ( )

Definition at line 23 of file tracking.cpp.

void yocs::ARMarkerTracking::maintainTrackedMarker	(	TrackedMarker &	marker,
		const ar_track_alvar_msgs::AlvarMarker &	msgMarker,
		const int	obs_list_max_size,
		const double	max_valid_d_inc,
		const double	max_valid_h_inc
	)

protected

Definition at line 94 of file tracking.cpp.

void yocs::ARMarkerTracking::maintainTrackedMarkers	(	const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &	msg,
		std::vector< TrackedMarker > &	tracked_markers
	)

protected

Definition at line 69 of file tracking.cpp.

void yocs::ARMarkerTracking::spin ( )

Definition at line 143 of file tracking.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	spotted_markers
	)

protected

Return spotted markers satisfying the constraints specified by the parameters

Parameters

younger_than	Elapsed time between now and markers timestamp must be below this limit.
min_confidence
exclude_globals
spotted_markers

Returns

Definition at line 66 of file utils.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		const ar_track_alvar_msgs::AlvarMarkers &	including,
		const ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarkers &	spotted_markers
	)

protected

Definition at line 19 of file utils.cpp.

bool yocs::ARMarkerTracking::spotted	(	double	younger_than,
		double	min_confidence,
		ar_track_alvar_msgs::AlvarMarkers &	excluding,
		ar_track_alvar_msgs::AlvarMarkers &	spotted
	)

protected

Definition at line 93 of file utils.cpp.

Member Data Documentation

double yocs::ARMarkerTracking::ar_tracker_freq_

protected

AR tracker frequency; unless changed with setTrackerFreq, it must be the same value configured on ar_track_alvar node

Definition at line 171 of file tracking.hpp.

double yocs::ARMarkerTracking::max_reliable_dist_

protected

Definition at line 165 of file tracking.hpp.

double yocs::ARMarkerTracking::max_reliable_head_

protected

Definition at line 167 of file tracking.hpp.

double yocs::ARMarkerTracking::max_tracking_time_

protected

Maximum time tacking a marker to ensure that it's a stable observation

Definition at line 168 of file tracking.hpp.

double yocs::ARMarkerTracking::max_valid_d_inc_

protected

Maximum valid distance increment per second to consider stable tracking

Definition at line 169 of file tracking.hpp.

double yocs::ARMarkerTracking::max_valid_h_inc_

protected

Maximum valid heading increment per second to consider stable tracking

Definition at line 170 of file tracking.hpp.

double yocs::ARMarkerTracking::min_penalized_dist_

protected

Definition at line 164 of file tracking.hpp.

double yocs::ARMarkerTracking::min_penalized_head_

protected

Definition at line 166 of file tracking.hpp.

ar_track_alvar_msgs::AlvarMarkers yocs::ARMarkerTracking::spotted_markers_

protected

Definition at line 175 of file tracking.hpp.

ros::Subscriber yocs::ARMarkerTracking::sub_ar_markers_

protected

Definition at line 176 of file tracking.hpp.

std::vector<TrackedMarker> yocs::ARMarkerTracking::tracked_markers_

protected

Definition at line 174 of file tracking.hpp.

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