#include <SegmentPrototype.h>

Inheritance diagram for cop::SegmentPrototype:

Public Member Functions
void	ClearPointClouds ()
	Clear the list for a new detection tun.
virtual Elem *	Duplicate (bool bStaticCopy)
LocatedObjectID_t	GetFrameId ()
virtual std::string	GetNodeName () const
sensor_msgs::PointCloud	GetPointCloud (LocatedObjectID_t id)
LocatedObjectID_t	GetSensorFrameId (const LocatedObjectID_t &id)
virtual bool	GetShape (GeometricShape &objectShape) const
std::pair< LocatedObjectID_t, sensor_msgs::PointCloud >	GetTable ()
virtual ElemType_t	GetType () const
virtual void	PropagatePose (RelPose *pose)
void	SaveTo (XMLTag *tag)
	SegmentPrototype ()
	SegmentPrototype (std::string sensor_frame, const sensor_msgs::PointCloud &pcd, std::string classname, ObjectID_t id, ObjectID_t class_id)
void	SetPointCloud (const LocatedObjectID_t &id, const sensor_msgs::PointCloud &pcd, const LocatedObjectID_t &sensor_id)
void	SetTable (const LocatedObjectID_t &id, const sensor_msgs::PointCloud &pcd)
virtual void	Show (RelPose pose, Sensor cam)
void	UpdateRefFrame ()
	~SegmentPrototype (void)
Public Attributes
double	m_covRotX
double	m_covRotY
double	m_covRotZ
bool	m_parallel
Protected Member Functions
virtual void	SetData (XMLTag *tag)
Private Attributes
LocatedObjectID_t	m_frameID
LocatedObjectID_t	m_LastTableID
std::map< LocatedObjectID_t, sensor_msgs::PointCloud >	m_mapPCD
std::string	m_relFrame
RelPose *	m_relPoseOfRefFrame
std::map< LocatedObjectID_t, LocatedObjectID_t >	m_sensorFrameID

Detailed Description

Definition at line 32 of file SegmentPrototype.h.

Constructor & Destructor Documentation

SegmentPrototype::SegmentPrototype ( )

Definition at line 32 of file SegmentPrototype.cpp.

SegmentPrototype::SegmentPrototype	(	std::string	sensor_frame,
		const sensor_msgs::PointCloud &	pcd,
		std::string	classname,
		ObjectID_t	id,
		ObjectID_t	class_id
	)

Definition at line 47 of file SegmentPrototype.cpp.

SegmentPrototype::~SegmentPrototype ( void )

Definition at line 249 of file SegmentPrototype.cpp.

Member Function Documentation

void cop::SegmentPrototype::ClearPointClouds ( ) [inline]

Clear the list for a new detection tun.

Definition at line 91 of file SegmentPrototype.h.

Elem * SegmentPrototype::Duplicate ( bool bStaticCopy ) [virtual]

Assign SegmentPrototype Members

Assign Descriptor Memebers

Reimplemented from cop::Elem.

Definition at line 341 of file SegmentPrototype.cpp.

LocatedObjectID_t SegmentPrototype::GetFrameId ( )

Definition at line 221 of file SegmentPrototype.cpp.

virtual std::string cop::SegmentPrototype::GetNodeName ( ) const [inline, virtual]

Reimplemented from cop::Descriptor.

Definition at line 43 of file SegmentPrototype.h.

sensor_msgs::PointCloud cop::SegmentPrototype::GetPointCloud ( LocatedObjectID_t id ) [inline]

GetPointCloud

Parameters:

id	the location this cluster is located to identify which is right point cloud (retireve this from the signature)

Definition at line 86 of file SegmentPrototype.h.

LocatedObjectID_t SegmentPrototype::GetSensorFrameId ( const LocatedObjectID_t & id )

Definition at line 227 of file SegmentPrototype.cpp.

bool SegmentPrototype::GetShape ( GeometricShape & objectShape ) const [virtual]

Get approximated shape

Reimplemented from cop::Descriptor.

Definition at line 363 of file SegmentPrototype.cpp.

std::pair<LocatedObjectID_t, sensor_msgs::PointCloud> cop::SegmentPrototype::GetTable ( ) [inline]

Definition at line 66 of file SegmentPrototype.h.

virtual ElemType_t cop::SegmentPrototype::GetType ( ) const [inline, virtual]

Reimplemented from cop::Elem.

Definition at line 44 of file SegmentPrototype.h.

void SegmentPrototype::PropagatePose ( RelPose * pose ) [virtual]

Reimplemented from cop::Descriptor.

Definition at line 355 of file SegmentPrototype.cpp.

void SegmentPrototype::SaveTo ( XMLTag * tag ) [virtual]

Reimplemented from cop::Descriptor.

Definition at line 255 of file SegmentPrototype.cpp.

void SegmentPrototype::SetData ( XMLTag * tag ) [protected, virtual]

Reimplemented from cop::Descriptor.

Definition at line 137 of file SegmentPrototype.cpp.

void SegmentPrototype::SetPointCloud	(	const LocatedObjectID_t &	id,
		const sensor_msgs::PointCloud &	pcd,
		const LocatedObjectID_t &	sensor_id
	)

Definition at line 457 of file SegmentPrototype.cpp.

void cop::SegmentPrototype::SetTable	(	const LocatedObjectID_t &	id,
		const sensor_msgs::PointCloud &	pcd
	)		`[inline]`

Segment prototype is a special object that holds also most of the collsion info the following function are to provide this capabilities to the cop_collision_interface

Definition at line 59 of file SegmentPrototype.h.