Public Member Functions | Protected Member Functions | Protected Attributes
omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass > Class Template Reference

This class defines an INTERFACE that all recursive estimator NODES need to implement It uses ROS TODO: For multimodality I will need different measurement types. More...

#include <RecursiveEstimatorNodeInterface.h>

List of all members.

Public Member Functions

template<class T >
bool getROSParameter (std::string param_name, T &param_container)
template<class T >
bool getROSParameter (std::string param_name, T &param_container, const T &default_value)
virtual void measurementCallback (const boost::shared_ptr< MeasurementTypeROS const > &measurement)=0
 Callback for the state predictions.
virtual void quitCallback (const std_msgs::EmptyConstPtr &msg)
 Callback to exit the node.
 RecursiveEstimatorNodeInterface (int num_external_state_predictors)
 Constructor.
virtual void run ()
 Creates a thread per state predictor that listens to their predictions, and this thread will listen to measurements.
virtual void spinStatePredictorQueue (int state_prediction_queue_idx)
 Spins one queue of predictors.
virtual void statePredictionCallback (const boost::shared_ptr< StateTypeROS const > &predicted_next_state)=0
 Callback for the state predictions.
virtual ~RecursiveEstimatorNodeInterface ()
 Destructor.

Protected Member Functions

virtual void _publishPredictedMeasurement () const =0
 Publish the prediction about the next measurement by this RE level.
virtual void _publishState () const =0
 Publish the current state of this RE level.

Protected Attributes

bool _active
ros::Time _current_measurement_time
ros::Duration _loop_period_ns
ros::Publisher _measurement_prediction_publisher
ros::Subscriber _measurement_subscriber
ros::NodeHandle _measurements_node_handle
ros::CallbackQueue * _measurements_queue
std::string _namespace
ros::Subscriber _node_quit_subscriber
int _num_external_state_predictors
ros::Time _previous_measurement_time
RecursiveEstimatorFilterClass * _re_filter
std::vector< ros::NodeHandle > _state_prediction_node_handles
ros::Publisher _state_prediction_publisher
std::vector< ros::CallbackQueue * > _state_prediction_queues
ros::Subscriber _state_prediction_subscriber
std::vector< boost::thread * > _state_predictor_listener_threads
ros::Publisher _state_publisher

Detailed Description

template<class MeasurementTypeROS, class StateTypeROS, class RecursiveEstimatorFilterClass>
class omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >

This class defines an INTERFACE that all recursive estimator NODES need to implement It uses ROS TODO: For multimodality I will need different measurement types.

Definition at line 52 of file RecursiveEstimatorNodeInterface.h.

Constructor & Destructor Documentation

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::RecursiveEstimatorNodeInterface ( int  num_external_state_predictors) [inline]

Constructor.

Parameters:
num_external_state_predictors- Number of state predictors that the node will connect to

Definition at line 61 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::~RecursiveEstimatorNodeInterface ( ) [inline, virtual]

Destructor.

Definition at line 92 of file RecursiveEstimatorNodeInterface.h.

Member Function Documentation

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_publishPredictedMeasurement ( ) const [protected, pure virtual]

Publish the prediction about the next measurement by this RE level.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_publishState ( ) const [protected, pure virtual]

Publish the current state of this RE level.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
template<class T >
bool omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::getROSParameter ( std::string  param_name,
T &  param_container 
) [inline]

Gets a parameter from ROS

Definition at line 163 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
template<class T >
bool omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::getROSParameter ( std::string  param_name,
T &  param_container,
const T &  default_value 
) [inline]

Gets a parameter from ROS with a default value if it is not available

Definition at line 179 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::measurementCallback ( const boost::shared_ptr< MeasurementTypeROS const > &  measurement) [pure virtual]

Callback for the state predictions.

Parameters:
predicted_next_state
template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::quitCallback ( const std_msgs::EmptyConstPtr &  msg) [inline, virtual]

Callback to exit the node.

Parameters:
msg- Empty message that signals that the node should terminate

Definition at line 153 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::run ( ) [inline, virtual]

Creates a thread per state predictor that listens to their predictions, and this thread will listen to measurements.

Definition at line 105 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::spinStatePredictorQueue ( int  state_prediction_queue_idx) [inline, virtual]

Spins one queue of predictors.

Parameters:
state_prediction_queue_idx- The idx of the queue of predictions

Definition at line 126 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
virtual void omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::statePredictionCallback ( const boost::shared_ptr< StateTypeROS const > &  predicted_next_state) [pure virtual]

Callback for the state predictions.

Parameters:
predicted_next_state

Member Data Documentation

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
bool omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_active [protected]

Definition at line 235 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Time omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_current_measurement_time [protected]

Definition at line 231 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Duration omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_loop_period_ns [protected]

Definition at line 233 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Publisher omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_measurement_prediction_publisher [protected]

Definition at line 223 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Subscriber omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_measurement_subscriber [protected]

Definition at line 218 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::NodeHandle omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_measurements_node_handle [protected]

Definition at line 228 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::CallbackQueue* omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_measurements_queue [protected]

Definition at line 227 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
std::string omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_namespace [protected]

Definition at line 208 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Subscriber omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_node_quit_subscriber [protected]

Definition at line 220 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
int omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_num_external_state_predictors [protected]

Definition at line 212 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Time omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_previous_measurement_time [protected]

Definition at line 232 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
RecursiveEstimatorFilterClass* omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_re_filter [protected]

Definition at line 206 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
std::vector<ros::NodeHandle> omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_prediction_node_handles [protected]

Definition at line 213 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Publisher omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_prediction_publisher [protected]

Definition at line 222 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
std::vector<ros::CallbackQueue*> omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_prediction_queues [protected]

Definition at line 214 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Subscriber omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_prediction_subscriber [protected]

Definition at line 219 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
std::vector<boost::thread*> omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_predictor_listener_threads [protected]

Definition at line 215 of file RecursiveEstimatorNodeInterface.h.

template<class MeasurementTypeROS , class StateTypeROS , class RecursiveEstimatorFilterClass >
ros::Publisher omip::RecursiveEstimatorNodeInterface< MeasurementTypeROS, StateTypeROS, RecursiveEstimatorFilterClass >::_state_publisher [protected]

Definition at line 221 of file RecursiveEstimatorNodeInterface.h.

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

omip_common
Author(s): Roberto Martín-Martín
autogenerated on Sat Jun 8 2019 18:26:37