Position Class Reference

A Position descriptor defines a feature from the z-coordinate of the interest point or the interest region's centroid. More...

#include <position.h>

Inheritance diagram for Position:

List of all members.

Public Member Functions
virtual void	clearShared ()
	This descriptor uses no shared precomputation, so this method has no affect.
std::string	getName () const
	Returns a name that is unique for any given setting of the parameters.
	Position ()
	Instantiates the position descriptor such that the z-coordinate is absolute. i.e. the feature is the interest point/region's z-coordinate.
	Position (float ref_z)
	Instantiates the position descriptor such that the z coordinate is relative to the given height. i.e. the feature is the interest point/region's z-coordinate minus ref_z.
Protected Member Functions
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts, std::vector< std::vector< float > > &results)
	Extract the z-coordinate of the interest points.
virtual void	doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices, std::vector< std::vector< float > > &results)
	Extract the z-coordinate of the interest regions' centroids.
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
	This descriptor requires no pre-computation, so this method has no affect.
virtual int	precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
	This descriptor requires no pre-computation, so this method has no affect.
Private Attributes
float	ref_z_

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Detailed Description

A Position descriptor defines a feature from the z-coordinate of the interest point or the interest region's centroid.

TODO: use map information such as distance from walls

Definition at line 65 of file position.h.

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Constructor & Destructor Documentation

Position::Position

(

)

Instantiates the position descriptor such that the z-coordinate is absolute. i.e. the feature is the interest point/region's z-coordinate.

Definition at line 42 of file position.cpp.

Position::Position

(

float

ref_z

)

Instantiates the position descriptor such that the z coordinate is relative to the given height. i.e. the feature is the interest point/region's z-coordinate minus ref_z.

Parameters:

ref_z

The reference z (elevation) coordinate.

Definition at line 70 of file position.cpp.

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Member Function Documentation

void Position::clearShared

(

)

[virtual]

This descriptor uses no shared precomputation, so this method has no affect.

Implements Descriptor3D.

Definition at line 53 of file position.cpp.

void Position::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts,
		std::vector< std::vector< float > > &	results
	)		[protected, virtual]

Extract the z-coordinate of the interest points.

See also:

Descriptor3D::compute

Implements Descriptor3D.

Definition at line 101 of file position.cpp.

virtual void Position::doComputation	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices,
		std::vector< std::vector< float > > &	results
	)		[protected, virtual]

Extract the z-coordinate of the interest regions' centroids.

See also:

Descriptor3D::compute

Implements Descriptor3D.

std::string Position::getName

(

void

)

const [virtual]

Returns a name that is unique for any given setting of the parameters.

Implements Descriptor3D.

Definition at line 60 of file position.cpp.

int Position::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const geometry_msgs::Point32 * > &	interest_pts
	)		[protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:

0 always

Implements Descriptor3D.

Definition at line 81 of file position.cpp.

int Position::precompute	(	const sensor_msgs::PointCloud &	data,
		cloud_kdtree::KdTree &	data_kdtree,
		const std::vector< const std::vector< int > * > &	interest_region_indices
	)		[protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:

0 always

Implements Descriptor3D.

Definition at line 91 of file position.cpp.

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Member Data Documentation

float Position::ref_z_ [private]

Definition at line 154 of file position.h.

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

• position.h
• position.cpp