Particle plume C++ class. More...

#include <ParticlePlume.h>

Classes
struct	BubbleData
	Data coming from the nose topic is stored in this form on a buffer. More...
struct	CellCandidate
	Auxiliary data structure. More...
Public Member Functions
	ParticlePlume ()
	Constructor.
void	publishPlume ()
	Publish plume.
	~ParticlePlume ()
	Destructor.
Private Member Functions
float	drand ()
	Uniform distribution.
void	noseCallback (const boost::shared_ptr< const lse_sensor_msgs::Nostril > &msg)
	Nose topic callback.
double	randomNormal ()
	Normal distribution.
Private Attributes
double	bubble_radius_
	Bubble radius.
double	cell_size_
	Cell size.
nav_msgs::GridCells	cells_
	Data structure that holds the visited cells.
std::vector< ros::Time >	cells_birth_
	Data structure to hold the birth time of the visited cells.
bool	cells_changed_
	Flag for wether the cells_ data structure was changed or not.
ros::Publisher	cells_pub_
	Visited cells topic publisher.
std::string	global_frame_id_
	Global frame_id.
int	max_particles_per_bubble_
	Maximum number of points per bubble.
ros::NodeHandle	n_
	Node handler.
message_filters::Subscriber < lse_sensor_msgs::Nostril >	nose_sub_
	Nose topic subscriber.
std::vector< BubbleData >	odor_readings_
	Buffer for holding pre-processed incoming chemical readings.
int	particle_life_time_
	Particle life time.
pcl::PointCloud< Particle >	plume_
	Particle plume data structure.
pcl_ros::Publisher< Particle >	plume_pub_
	Particle plume topic publisher.
ros::NodeHandle	pn_
	Private node handler.
double	publish_frequency_
	Publish frequency.
std::string	sensor_model_
	Sensor Model.
tf::TransformListener	tf_
	Transform listener.
tf::MessageFilter < lse_sensor_msgs::Nostril > *	tf_filter_

Detailed Description

Particle plume C++ class.

This class receives data from electronic noses converting the chemical concentration data into a virtual plume. This virtual plume is represented by a 3D cloud of particles where a higher concentration of particles indicates a higher chemical concentration. Each chemical reading is converted into a small cloud of particles centered around the reading point over a normal distribution with a standard deviation of 1. Chemical data can be gathered from multiple sources, various sensors on a robot, various robots, stationary sensor network nodes, etc.

Definition at line 58 of file ParticlePlume.h.

Constructor & Destructor Documentation

particle_plume::ParticlePlume::ParticlePlume ( )

Constructor.

Definition at line 42 of file ParticlePlume.cpp.

particle_plume::ParticlePlume::~ParticlePlume ( )

Destructor.

Definition at line 71 of file ParticlePlume.cpp.

Member Function Documentation

float particle_plume::ParticlePlume::drand ( ) [private]

Uniform distribution.

Uniform distribution, [0 ... 1]

Returns:: The random value.

Definition at line 321 of file ParticlePlume.cpp.

void particle_plume::ParticlePlume::noseCallback ( const boost::shared_ptr< const lse_sensor_msgs::Nostril > & msg ) [private]

Nose topic callback.

This function receives messages from the nose topic.

Parameters:

msg	Incoming lse_sensor_msgs::Nostri msg.

Definition at line 76 of file ParticlePlume.cpp.

void particle_plume::ParticlePlume::publishPlume ( )

Publish plume.

This function publishes the particle plume.

Definition at line 162 of file ParticlePlume.cpp.

double particle_plume::ParticlePlume::randomNormal ( ) [private]

Normal distribution.

Normal distribution, centered on 0, std dev 1.

Returns:: The generated value.

Definition at line 326 of file ParticlePlume.cpp.

Member Data Documentation

double particle_plume::ParticlePlume::bubble_radius_ [private]

Bubble radius.

The bubble radius determines the sphere inside which points will be generated for each chemical reading.

Definition at line 128 of file ParticlePlume.h.

double particle_plume::ParticlePlume::cell_size_ [private]

Cell size.

The height and width for each visited cell.

Definition at line 148 of file ParticlePlume.h.

nav_msgs::GridCells particle_plume::ParticlePlume::cells_ [private]

Data structure that holds the visited cells.

Definition at line 110 of file ParticlePlume.h.

std::vector<ros::Time> particle_plume::ParticlePlume::cells_birth_ [private]

Data structure to hold the birth time of the visited cells.

Definition at line 113 of file ParticlePlume.h.

bool particle_plume::ParticlePlume::cells_changed_ [private]

Flag for wether the cells_ data structure was changed or not.

Definition at line 116 of file ParticlePlume.h.

ros::Publisher particle_plume::ParticlePlume::cells_pub_ [private]

Visited cells topic publisher.

Definition at line 98 of file ParticlePlume.h.

std::string particle_plume::ParticlePlume::global_frame_id_ [private]

Global frame_id.

Definition at line 122 of file ParticlePlume.h.

int particle_plume::ParticlePlume::max_particles_per_bubble_ [private]

Maximum number of points per bubble.

This value determines the number of points generated inside a sphere for a maximum chemical reading.

Definition at line 133 of file ParticlePlume.h.

ros::NodeHandle particle_plume::ParticlePlume::n_ [private]

Node handler.

Definition at line 91 of file ParticlePlume.h.

message_filters::Subscriber<lse_sensor_msgs::Nostril> particle_plume::ParticlePlume::nose_sub_ [private]

Nose topic subscriber.

Definition at line 101 of file ParticlePlume.h.

std::vector<BubbleData> particle_plume::ParticlePlume::odor_readings_ [private]

Buffer for holding pre-processed incoming chemical readings.

Definition at line 119 of file ParticlePlume.h.

int particle_plume::ParticlePlume::particle_life_time_ [private]

Particle life time.

Each particle can have a life time in minutes. Once this time is up the particle is removed from the plume. A value of 0 indicates that the particles are never removed.

Definition at line 138 of file ParticlePlume.h.

pcl::PointCloud<Particle> particle_plume::ParticlePlume::plume_ [private]

Particle plume data structure.

Definition at line 107 of file ParticlePlume.h.

pcl_ros::Publisher<Particle> particle_plume::ParticlePlume::plume_pub_ [private]

Particle plume topic publisher.

Definition at line 96 of file ParticlePlume.h.

ros::NodeHandle particle_plume::ParticlePlume::pn_ [private]

Private node handler.

Definition at line 93 of file ParticlePlume.h.

double particle_plume::ParticlePlume::publish_frequency_ [private]

Publish frequency.