#include <StaticEnvironmentFilter.h>

Inheritance diagram for omip::StaticEnvironmentFilter:

Public Types
typedef boost::shared_ptr < StaticEnvironmentFilter >	Ptr
Public Member Functions
virtual void	addSupportingFeature (Feature::Id supporting_feat_id)
virtual void	constrainMotion ()
	Function that constrains the last estimated pose of the static environment to the camera according to the motion constraint.
virtual void	correctState ()
virtual void	estimateDeltaMotion (std::vector< Feature::Id > &supporting_features_ids, tf::Transform &previous_current_Tf)
	Estimate the motion between the last 2 frames of the set of supporting features, assuming they are all on the static environment.
virtual void	Init ()
virtual void	iterativeICP (pcl::PointCloud< pcl::PointXYZ > &previous_locations, pcl::PointCloud< pcl::PointXYZ > &current_locations, tf::Transform &previous_current_Tf)
	Estimate the transformation between 2 sets of feature locations by iteratively estimating ICP until either the maximum number of iterations is reached or the iterations do not change the transformation (convergence)
virtual void	predictState (double time_interval_ns)
virtual void	setComputationType (static_environment_tracker_t computation_type)
	Set the computation type for the static environment Options: ICP based (t-1 to t) or EKF based (similar to any other RB)
virtual void	setMotionConstraint (int motion_constraint)
	Set a constraint for the motion of the RB Right now this is only used by the StaticEnvironmentFilter.
	StaticEnvironmentFilter (double loop_period_ns, FeaturesDataBase::Ptr feats_database, double environment_motion_threshold)
virtual	~StaticEnvironmentFilter ()
Private Attributes
static_environment_tracker_t	_computation_type
double	_environment_motion_threshold
int	_max_iterations
int	_motion_constraint
ros::NodeHandle	_nh
pcl::registration::TransformationEstimationSVD < pcl::PointXYZ, pcl::PointXYZ >	_svdecomposer
double	_tf_epsilon_angular
double	_tf_epsilon_linear
tf::TransformListener	_tf_listener

Detailed Description

Class StaticEnvironmentICPFilter Represents an special type of RBFilter that tracks the motion of the static environment wrt to the camera Features of the environment that are not moving in the environment support this filter and should be used to estimate the motion of the environment wrt to the camera

Definition at line 63 of file StaticEnvironmentFilter.h.

Member Typedef Documentation

typedef boost::shared_ptr<StaticEnvironmentFilter> omip::StaticEnvironmentFilter::Ptr

Reimplemented from omip::RBFilter.

Definition at line 68 of file StaticEnvironmentFilter.h.

Constructor & Destructor Documentation

StaticEnvironmentFilter::StaticEnvironmentFilter	(	double	loop_period_ns,
		FeaturesDataBase::Ptr	feats_database,
		double	environment_motion_threshold
	)

Constructor

Parameters:

static_motion_threshold - Threshold to detect Features that move (do not support the static rigid body any longer)

Definition at line 35 of file StaticEnvironmentFilter.cpp.

virtual omip::StaticEnvironmentFilter::~StaticEnvironmentFilter ( ) [inline, virtual]

Destructor

Definition at line 79 of file StaticEnvironmentFilter.h.

Member Function Documentation

void StaticEnvironmentFilter::addSupportingFeature ( Feature::Id supporting_feat_id ) [virtual]

Add the ID of a feature to the list of supporting features of this RB This function is called when a new feature is added to the list of tracked features We create a prediction about its next position (the same it has now) to be used in the support

Parameters:

supporting_feat_id - ID of the Feature that now supports this RB

Reimplemented from omip::RBFilter.

Definition at line 172 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::constrainMotion ( ) [virtual]

Function that constrains the last estimated pose of the static environment to the camera according to the motion constraint.

Definition at line 260 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::correctState ( ) [virtual]

Correct Correct the predicted next state based on the supporting Features For the StaticRB the state (pose and velocity) is always zero

Reimplemented from omip::RBFilter.

Definition at line 100 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::estimateDeltaMotion	(	std::vector< Feature::Id > &	supporting_features_ids,
		tf::Transform &	previous_current_Tf
	)		`[virtual]`

Estimate the motion between the last 2 frames of the set of supporting features, assuming they are all on the static environment.

Parameters:

supporting_features_ids	IDs of the features that support the static environment
previous_current_Tf	Resulting transformation as a tf transform. It is the transformation of the static environment from the previous to the current frame

Definition at line 193 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::Init ( ) [virtual]

Reimplemented from omip::RBFilter.

Definition at line 62 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::iterativeICP	(	pcl::PointCloud< pcl::PointXYZ > &	previous_locations,
		pcl::PointCloud< pcl::PointXYZ > &	current_locations,
		tf::Transform &	previous_current_Tf
	)		`[virtual]`

Estimate the transformation between 2 sets of feature locations by iteratively estimating ICP until either the maximum number of iterations is reached or the iterations do not change the transformation (convergence)

Parameters:

previous_locations	Point cloud with the previous locations of the features
current_locations	Point cloud with the current locations of the features
previous_current_Tf	Resulting transformation as a tf transform. It is the transformation of the static environment from the previous to the current frame

Definition at line 217 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::predictState ( double time_interval_ns ) [virtual]

Predict Generate a prediction of the next state based on the previous state For the StaticRB the state (pose and velocity) is always zero

Reimplemented from omip::RBFilter.

Definition at line 69 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::setComputationType ( static_environment_tracker_t computation_type ) [virtual]

Set the computation type for the static environment Options: ICP based (t-1 to t) or EKF based (similar to any other RB)

Parameters:

computation_type Value of the type of computation (defined in omip_common/OMIPTypeDefs.h)

Definition at line 167 of file StaticEnvironmentFilter.cpp.

void StaticEnvironmentFilter::setMotionConstraint ( int motion_constraint ) [virtual]

Set a constraint for the motion of the RB Right now this is only used by the StaticEnvironmentFilter.

Parameters:

motion_constraint Value of the motion constraint. The meaning of each value is in motion_estimation.h

Reimplemented from omip::RBFilter.

Definition at line 162 of file StaticEnvironmentFilter.cpp.

Member Data Documentation

static_environment_tracker_t omip::StaticEnvironmentFilter::_computation_type [private]

Definition at line 161 of file StaticEnvironmentFilter.h.

double omip::StaticEnvironmentFilter::_environment_motion_threshold [private]

Definition at line 151 of file StaticEnvironmentFilter.h.

int omip::StaticEnvironmentFilter::_max_iterations [private]

Definition at line 154 of file StaticEnvironmentFilter.h.

int omip::StaticEnvironmentFilter::_motion_constraint [private]

Definition at line 152 of file StaticEnvironmentFilter.h.

ros::NodeHandle omip::StaticEnvironmentFilter::_nh [private]

Definition at line 158 of file StaticEnvironmentFilter.h.

pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ> omip::StaticEnvironmentFilter::_svdecomposer [private]

Definition at line 163 of file StaticEnvironmentFilter.h.

double omip::StaticEnvironmentFilter::_tf_epsilon_angular [private]

Definition at line 156 of file StaticEnvironmentFilter.h.

double omip::StaticEnvironmentFilter::_tf_epsilon_linear [private]

Definition at line 155 of file StaticEnvironmentFilter.h.

tf::TransformListener omip::StaticEnvironmentFilter::_tf_listener [private]

Definition at line 159 of file StaticEnvironmentFilter.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation