An offline object search example node. More...
#include <OfflineItemSearcher.h>
Public Member Functions | |
OfflineItemSearcher () | |
Create a OfflineItemSearcher and associated ROS information. | |
void | run () |
Run the offline item search process. | |
virtual | ~OfflineItemSearcher () |
Cleans up a OfflineItemSearcher. | |
Static Public Attributes | |
static const int | NUM_GEOLIFE_COLUMNS = 10 |
static const int | NUM_GEOLIFE_ROWS = 10 |
Private Member Functions | |
std::string | getGeoLifeSurface (const double latitude, const double longitude) const |
Determine the "surface" name based on latitude and longitude. | |
void | loadGeoLife (const std::string &directory) |
Load GeoLife PLT log files. | |
void | printItemList (const std::vector< worldlib::world::Item > &objects) const |
Print the list of items to standard out. | |
void | printSurfaceList (const std::vector< worldlib::world::Surface > &surfaces) const |
Print the list of surfaces to standard out. | |
void | runGeoLifeExperiment () |
Run the GeoLife persistence model experiment. | |
Private Attributes | |
std::vector< GeoLifeEntry > | geolife_ |
worldlib::world::World | interactive_world_ |
worldlib::remote::InteractiveWorldModelClient * | interactive_world_model_client_ |
worldlib::model::TaskModel | interactive_world_task_model_ |
double | max_lat_ |
double | max_lng_ |
double | min_lat_ |
double | min_lng_ |
boost::mt19937 | random_ |
worldlib::remote::SpatialWorldClient * | spatial_world_client_ |
worldlib::world::World | world_ |
An offline object search example node.
The offline item search is an example item search node. This node will fake observation data and build models from the faked data. This is useful for model verification methods and data collection for ongoing research.
Definition at line 44 of file OfflineItemSearcher.h.
Create a OfflineItemSearcher and associated ROS information.
Creates the ROS node handle and creates clients to the worldlib databases.
Definition at line 30 of file OfflineItemSearcher.cpp.
OfflineItemSearcher::~OfflineItemSearcher | ( | ) | [virtual] |
Cleans up a OfflineItemSearcher.
Cleans up any connections used by the OfflineItemSearcher.
Definition at line 82 of file OfflineItemSearcher.cpp.
string OfflineItemSearcher::getGeoLifeSurface | ( | const double | latitude, |
const double | longitude | ||
) | const [private] |
Determine the "surface" name based on latitude and longitude.
Determine the "surface" name based on the 2D grid overlayed on the map. This will be a surface such as "2-3" for row two, column three.
latitude | The latitude of the point. |
longitude | The longitude of the point. |
Definition at line 357 of file OfflineItemSearcher.cpp.
void OfflineItemSearcher::loadGeoLife | ( | const std::string & | directory | ) | [private] |
Load GeoLife PLT log files.
Load GeoLife trajectory files as a means of model verification testing. This will load all PLT files from the given directory and place them in the searcher's vector to utilize later.
directory | The directory to search for PLT files in. |
Definition at line 89 of file OfflineItemSearcher.cpp.
void OfflineItemSearcher::printItemList | ( | const std::vector< worldlib::world::Item > & | objects | ) | const [private] |
Print the list of items to standard out.
Prints the given list of items to standard out.
items | The item list to print. |
Definition at line 369 of file OfflineItemSearcher.cpp.
void OfflineItemSearcher::printSurfaceList | ( | const std::vector< worldlib::world::Surface > & | surfaces | ) | const [private] |
Print the list of surfaces to standard out.
Prints the given list of surfaces to standard out.
surfaces | The surface list to print. |
Definition at line 380 of file OfflineItemSearcher.cpp.
void OfflineItemSearcher::run | ( | ) |
Run the offline item search process.
Run the simulated item search process and print out the output.
Definition at line 149 of file OfflineItemSearcher.cpp.
void OfflineItemSearcher::runGeoLifeExperiment | ( | ) | [private] |
Run the GeoLife persistence model experiment.
Run the GeoLife persistence model experiment. This experiment will randomly pick points from the first 2/3 of the GeoLife entries and store them as observations before building a persistence model and validating that model.
Definition at line 160 of file OfflineItemSearcher.cpp.
std::vector<GeoLifeEntry> rail::spatial_temporal_learning::OfflineItemSearcher::geolife_ [private] |
The data entry values from the GeoLife dataset.
Definition at line 126 of file OfflineItemSearcher.h.
worldlib::world::World rail::spatial_temporal_learning::OfflineItemSearcher::interactive_world_ [private] |
Definition at line 136 of file OfflineItemSearcher.h.
worldlib::remote::InteractiveWorldModelClient* rail::spatial_temporal_learning::OfflineItemSearcher::interactive_world_model_client_ [private] |
The interactive world model client
Definition at line 131 of file OfflineItemSearcher.h.
worldlib::model::TaskModel rail::spatial_temporal_learning::OfflineItemSearcher::interactive_world_task_model_ [private] |
The interactive world task model for putting items away.
Definition at line 139 of file OfflineItemSearcher.h.
double rail::spatial_temporal_learning::OfflineItemSearcher::max_lat_ [private] |
Definition at line 128 of file OfflineItemSearcher.h.
double rail::spatial_temporal_learning::OfflineItemSearcher::max_lng_ [private] |
Definition at line 128 of file OfflineItemSearcher.h.
double rail::spatial_temporal_learning::OfflineItemSearcher::min_lat_ [private] |
Bounding region for the GeoLife data
Definition at line 128 of file OfflineItemSearcher.h.
double rail::spatial_temporal_learning::OfflineItemSearcher::min_lng_ [private] |
Definition at line 128 of file OfflineItemSearcher.h.
const int rail::spatial_temporal_learning::OfflineItemSearcher::NUM_GEOLIFE_COLUMNS = 10 [static] |
The number of columns in the 2D GeoLife grid.
Definition at line 50 of file OfflineItemSearcher.h.
const int rail::spatial_temporal_learning::OfflineItemSearcher::NUM_GEOLIFE_ROWS = 10 [static] |
The number of rows in the 2D GeoLife grid.
Definition at line 48 of file OfflineItemSearcher.h.
boost::mt19937 rail::spatial_temporal_learning::OfflineItemSearcher::random_ [private] |
Random number generator.
Definition at line 123 of file OfflineItemSearcher.h.
worldlib::remote::SpatialWorldClient* rail::spatial_temporal_learning::OfflineItemSearcher::spatial_world_client_ [private] |
The spatial world database client
Definition at line 133 of file OfflineItemSearcher.h.
Our "worlds".
Reimplemented from rail::spatial_temporal_learning::worldlib::remote::Node.
Definition at line 136 of file OfflineItemSearcher.h.