mdm_library::StateLayer Class Reference

#include <state_layer.h>

List of all members.

Public Types
typedef boost::shared_ptr < std::set< uint32_t > >	SFIDSetPtr
Public Member Functions
void	addStateFactor (const StateDep::SFDeps &deps)
void	addStateFactor (const StateDep &deps)
void	predicateMapCallback (const predicate_manager::PredicateInfoMapConstPtr &msg)
void	predicateUpdatesCallback (const predicate_manager::PredicateUpdateConstPtr &msg)
	StateLayer ()
Private Member Functions
std::string	factorString (unsigned k)
void	publishJointState ()
void	updateStateInfo (const uint32_t &factor)
Private Attributes
std::vector< uint32_t >	factored_state_
std::vector< StateDep::SFDeps >	factored_state_deps_
boost::unordered_map < predicate_manager::NameID, SFIDSetPtr >	named_pred_observer_
boost::unordered_map < predicate_manager::NameID, boost::shared_ptr< bool > >	named_value_map_
ros::NodeHandle	nh_
boost::unordered_map < predicate_manager::NrID, SFIDSetPtr, predicate_manager::cantor_pair_hash >	nr_pred_observer_
boost::unordered_map < predicate_manager::NrID, boost::shared_ptr< bool > , predicate_manager::cantor_pair_hash >	nr_value_map_
ros::Subscriber	pred_map_sub_
ros::Subscriber	pred_update_sub_
ros::Subscriber	state_metadata_sub_
ros::Publisher	state_pub_

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Detailed Description

Definition at line 42 of file state_layer.h.

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Member Typedef Documentation

typedef boost::shared_ptr<std::set<uint32_t> > mdm_library::StateLayer::SFIDSetPtr

Definition at line 45 of file state_layer.h.

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Constructor & Destructor Documentation

StateLayer::StateLayer

(

)

Definition at line 38 of file state_layer.cpp.

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Member Function Documentation

void StateLayer::addStateFactor

(

const StateDep::SFDeps &

deps

)

factor index is factored_state_.size()

Definition at line 165 of file state_layer.cpp.

void StateLayer::addStateFactor

(

const StateDep &

deps

)

Definition at line 186 of file state_layer.cpp.

std::string StateLayer::factorString

(

unsigned

k

)

[private]

binary state factor

mutually-exclusive-valued state factor

Definition at line 105 of file state_layer.cpp.

void StateLayer::predicateMapCallback

(

const predicate_manager::PredicateInfoMapConstPtr &

msg

)

name_id has been registered as the dependency of some SF

now we can access the value by the NrID instead

Definition at line 144 of file state_layer.cpp.

void StateLayer::predicateUpdatesCallback

(

const predicate_manager::PredicateUpdateConstPtr &

msg

)

Definition at line 48 of file state_layer.cpp.

void StateLayer::publishJointState

(

)

[private]

Definition at line 195 of file state_layer.cpp.

void StateLayer::updateStateInfo

(

const uint32_t &

factor

)

[private]

Definition at line 223 of file state_layer.cpp.

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Member Data Documentation

std::vector<uint32_t> mdm_library::StateLayer::factored_state_ [private]

Definition at line 79 of file state_layer.h.

std::vector<StateDep::SFDeps> mdm_library::StateLayer::factored_state_deps_ [private]

Definition at line 77 of file state_layer.h.

boost::unordered_map<predicate_manager::NameID, SFIDSetPtr > mdm_library::StateLayer::named_pred_observer_ [private]

Definition at line 75 of file state_layer.h.

boost::unordered_map<predicate_manager::NameID, boost::shared_ptr<bool> > mdm_library::StateLayer::named_value_map_ [private]

Definition at line 69 of file state_layer.h.

ros::NodeHandle mdm_library::StateLayer::nh_ [private]

Definition at line 60 of file state_layer.h.

boost::unordered_map<predicate_manager::NrID, SFIDSetPtr, predicate_manager::cantor_pair_hash> mdm_library::StateLayer::nr_pred_observer_ [private]

Definition at line 74 of file state_layer.h.

boost::unordered_map<predicate_manager::NrID, boost::shared_ptr<bool>, predicate_manager::cantor_pair_hash> mdm_library::StateLayer::nr_value_map_ [private]

Definition at line 68 of file state_layer.h.

ros::Subscriber mdm_library::StateLayer::pred_map_sub_ [private]

Definition at line 61 of file state_layer.h.

ros::Subscriber mdm_library::StateLayer::pred_update_sub_ [private]

Definition at line 62 of file state_layer.h.

ros::Subscriber mdm_library::StateLayer::state_metadata_sub_ [private]

Definition at line 63 of file state_layer.h.

ros::Publisher mdm_library::StateLayer::state_pub_ [private]

Definition at line 64 of file state_layer.h.

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

• state_layer.h
• state_layer.cpp