Object.h
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00001 #ifndef OBJECT_TRACKER_OBJECT_H
00002 #define OBJECT_TRACKER_OBJECT_H
00003 
00004 #include <hector_object_tracker/types.h>
00005 
00006 #include <visualization_msgs/MarkerArray.h>
00007 #include <tf/transform_listener.h>
00008 
00009 #include <Eigen/Geometry>
00010 
00011 #include <ros/ros.h>
00012 
00013 #include <map>
00014 
00015 namespace hector_object_tracker {
00016 
00017 class Object
00018 {
00019 public:
00020     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00021 
00022     typedef boost::shared_ptr<Object> Ptr;
00023     typedef boost::shared_ptr<Object const> ConstPtr;
00024     typedef hector_worldmodel_msgs::ObjectState::_state_type StateType;
00025 
00026     Object(const std::string class_id = "", const std::string object_id = "");
00027     Object(const hector_worldmodel_msgs::Object& other);
00028     virtual ~Object();
00029 
00030     static void reset();
00031 
00032     void getMessage(hector_worldmodel_msgs::Object& object) const;
00033     hector_worldmodel_msgs::Object getMessage() const;
00034     void getVisualization(visualization_msgs::MarkerArray &markers) const;
00035 
00036     void getPoseWithCovariance(geometry_msgs::PoseWithCovariance& pose) const;
00037     void setPose(const geometry_msgs::PoseWithCovariance& pose);
00038 
00039     void getPose(geometry_msgs::Pose& pose) const;
00040     void getPose(tf::Pose& pose) const;
00041     void setPose(const geometry_msgs::Pose& pose);
00042     void setPose(const tf::Pose& pose);
00043 
00044     const Eigen::Vector3f& getPosition() const;
00045     void setPosition(const Eigen::Vector3f& position);
00046     void setPosition(const geometry_msgs::Point& position);
00047     void setPosition(const tf::Point& point);
00048 
00049     const Eigen::Quaternionf& getOrientation() const;
00050     void setOrientation(const geometry_msgs::Quaternion& orientation);
00051     void setOrientation(const tf::Quaternion& orientation);
00052 
00053     const Eigen::Matrix3f& getCovariance() const;
00054     void getCovariance(geometry_msgs::PoseWithCovariance::_covariance_type& covariance) const;
00055     void setCovariance(const Eigen::Matrix3f& covariance);
00056     void setCovariance(const tf::Matrix3x3& covariance);
00057     void setCovariance(const geometry_msgs::PoseWithCovariance::_covariance_type& covariance);
00058 
00059     const std::string& getClassId() const {
00060       return this->info.class_id;
00061     }
00062 
00063     const std::string& getObjectId() const {
00064       return this->info.object_id;
00065     }
00066 
00067     void setObjectId(const std::string& object_id) {
00068       this->info.object_id = object_id;
00069     }
00070 
00071     float getSupport() const {
00072       return this->info.support;
00073     }
00074 
00075     void setSupport(float support) {
00076       this->info.support = support;
00077     }
00078 
00079     void addSupport(float support) {
00080       this->info.support += support;
00081     }
00082 
00083     StateType getState() const {
00084       return this->state.state;
00085     }
00086 
00087     void setState(const StateType& state);
00088 
00089     const std::string& getName() const {
00090       return this->info.name;
00091     }
00092 
00093     void setName(const std::string& name) {
00094       this->info.name = name;
00095     }
00096 
00097     std_msgs::Header getHeader() const {
00098       return this->header;
00099     }
00100 
00101     void setHeader(const std_msgs::Header &header) {
00102       this->header = header;
00103     }
00104 
00105     ros::Time getStamp() const {
00106       return this->header.stamp;
00107     }
00108 
00109     void intersect(const tf::Pose& poseB, const Eigen::Matrix3f& covarianceB, float support);
00110     void update(const tf::Pose& poseB, const Eigen::Matrix3f& covarianceB, float support);
00111     void updateOrientation(const tf::Quaternion& orientationB, double slerp_factor);
00112 
00113     static void setNamespace(const std::string& ns);
00114 
00115     Object& operator=(const hector_worldmodel_msgs::Object& other);
00116 
00117     ObjectPtr transform(tf::Transformer& tf, const std::string& target_frame) const;
00118     ObjectPtr transform(tf::Transformer& tf, const std::string& target_frame, const ros::Time& target_time) const;
00119 
00120     double getDistance(const Object &other);
00121 
00122 private:
00123     ros::NodeHandle nh;
00124     std_msgs::Header header;
00125     ObjectInfo info;
00126     ObjectState state;
00127 
00128     Eigen::Vector3f position;
00129     Eigen::Quaternionf orientation;
00130     Eigen::Matrix3f covariance;
00131 
00132     static std::map<std::string,unsigned int> object_count;
00133     static std::string object_namespace;
00134 };
00135 
00136 } // namespace hector_object_tracker
00137 
00138 #endif // OBJECT_TRACKER_OBJECT_H


hector_object_tracker
Author(s): Johannes Meyer
autogenerated on Fri Aug 28 2015 11:05:21