Object configuration information. More...

#include <Object.h>

Inheritance diagram for rail::spatial_temporal_learning::worldlib::world::Object:

Public Member Functions
void	addAlias (const std::string &alias)
	Alias adder.
bool	checkName (const std::string &name) const
	Name check.
geometry::Position	fromParentFrame (const geometry::Position &position) const
	Position transform.
geometry::Pose	fromParentFrame (const geometry::Pose &pose) const
	Pose transform.
const std::string &	getAlias (const size_t index) const
	Alias value accessor.
const std::vector< std::string > &	getAliases () const
	Aliases value accessor.
double	getDepth () const
	Depth value accessor.
const std::string &	getFrameID () const
	Frame ID value accessor.
double	getHeight () const
	Height value accessor.
const std::string &	getName () const
	Name value accessor.
size_t	getNumAliases () const
	Aliases size accessor.
const geometry::Pose &	getPose () const
	Pose value accessor (immutable).
geometry::Pose &	getPose ()
	Pose value accessor.
double	getWidth () const
	Width value accessor.
	Object (const std::string &name="", const std::string &frame_id="", const geometry::Pose &pose=geometry::Pose(), const double width=0, const double depth=0, const double height=0)
	Create a new Object.
void	removeAlias (const size_t index)
	Alias remover.
void	setDepth (const double depth)
	Depth value mutator.
void	setFrameID (const std::string &frame_id)
	Frame ID value mutator.
void	setHeight (const double height)
	Height value mutator.
void	setName (const std::string &name)
	Name value mutator.
void	setPose (geometry::Pose &pose)
	Pose value mutator.
void	setWidth (const double width)
	Width value mutator.
Private Attributes
std::vector< std::string >	aliases_
double	depth_
std::string	frame_id_
double	height_
std::string	name_
geometry::Pose	pose_
double	width_

Detailed Description

Object configuration information.

An object is an abstract entity in the world. Objects can be mutable entities (e.g., manipulable items) or immutable entities (e.g., surfaces and furniture). Objects can have an array of associated aliases associated with their main name.

Definition at line 40 of file Object.h.

Constructor & Destructor Documentation

Object::Object	(	const std::string &	name = `""`,
		const std::string &	frame_id = `""`,
		const geometry::Pose &	pose = `geometry::Pose()`,
		const double	width = `0`,
		const double	depth = `0`,
		const double	height = `0`
	)

Create a new Object.

Create a new Object with the given name, frame ID, Pose (in reference to the parent's frame ID), and dimensions.

Parameters:

name	The name of the Object (defaults to the empty string).
frame_id	The frame ID of the Object (defaults to the empty string).
pose	The Pose of the Object with respect to the parent frame (defaults to 0 Pose).
width	The width of the Object (along the x-axis) (defaults to 0).
depth	The width of the Object (along the y-axis) (defaults to 0).
height	The height of the Object (along the z-axis) (defaults to 0).

Definition at line 23 of file Object.cpp.

Member Function Documentation

void Object::addAlias ( const std::string & alias )

Alias adder.

Add the alias to this Object.

Parameters:

alias The new alias to add to this Object.

Definition at line 118 of file Object.cpp.

bool Object::checkName ( const std::string & name ) const

Name check.

Check if this object goes by the given name by checking both the default name and aliases. Case is not important.

Parameters:

name	The name to check,

Returns:: Returns true if the name or any of the aliases of this object match the given name.

Definition at line 135 of file Object.cpp.

Position Object::fromParentFrame ( const geometry::Position & position ) const

Position transform.

Transform the given Position from the parent's frame to this Object's frame. For example, the parent of a Surface is a Room. Passing in a Position in the Room frame will return that Position in the Surface frame.

Parameters:

position The Position to transform,

Returns:: Returns a new Position object in relation to this Object.

Definition at line 159 of file Object.cpp.

Pose Object::fromParentFrame ( const geometry::Pose & pose ) const

Pose transform.

Transform the given Pose from the parent's frame to this Object's frame. For example, the parent of a Surface is a Room. Passing in a Pose in the Room frame will return that Pose in the Surface frame.

Parameters:

pose	The Pose to transform,

Returns:: Returns a new Pose object in relation to this Object.

Definition at line 167 of file Object.cpp.

const string & Object::getAlias ( const size_t index ) const

Alias value accessor.

Get the alias of this Object at the given index.

Parameters:

i	The index of the alias to get.

Returns:: The alias at the given index.

Exceptions:

std::out_of_range Thrown if the alias at the given index does not exist.

Definition at line 106 of file Object.cpp.

const vector< string > & Object::getAliases ( ) const

Aliases value accessor.

Get the aliases of this Object.

Returns:: The aliases of this Object.

Definition at line 96 of file Object.cpp.

double Object::getDepth ( ) const

Depth value accessor.

Get the depth value of this Object.

Returns:: The depth value of this Object.

Definition at line 76 of file Object.cpp.

const string & Object::getFrameID ( ) const

Frame ID value accessor.

Get the frame ID value of this Object.

Returns:: The frame ID value of this Object.

Definition at line 41 of file Object.cpp.

double Object::getHeight ( ) const

Height value accessor.

Get the height value of this Object.

Returns:: The height value of this Object.

Definition at line 86 of file Object.cpp.

const string & Object::getName ( ) const

Name value accessor.

Get the name value of this Object.

Returns:: The name value of this Object.

Definition at line 31 of file Object.cpp.

size_t Object::getNumAliases ( ) const

Aliases size accessor.

Get the number of aliases of this Object.

Returns:: The number of aliases of this Object.

Definition at line 101 of file Object.cpp.

const Pose & Object::getPose ( ) const

Pose value accessor (immutable).

Get the Pose value of this Object (with respect to its parents frame).

Returns:: The Pose value of this Object.

Definition at line 51 of file Object.cpp.

Pose & Object::getPose ( )

Pose value accessor.

Get the Pose value of this Object (with respect to its parents frame).

Returns:: The Pose value of this Object.

Definition at line 56 of file Object.cpp.

double Object::getWidth ( ) const

Width value accessor.

Get the width value of this Object.

Returns:: The width value of this Object.

Definition at line 66 of file Object.cpp.

void Object::removeAlias ( const size_t index )

Alias remover.

Remove the alias at the given index. An invalid index results in no effect.

Parameters:

i	The index of the alias to remove.

Exceptions:

std::out_of_range Thrown if the alias at the given index does not exist.

Definition at line 123 of file Object.cpp.

void Object::setDepth ( const double depth )

Depth value mutator.

Set the depth value of this Object.

Parameters:

depth The new depth value of this Object.

Definition at line 81 of file Object.cpp.

void Object::setFrameID ( const std::string & frame_id )

Frame ID value mutator.

Set the frame ID value of this Object.

Parameters:

frame_id The new frame ID value of this Object.

Definition at line 46 of file Object.cpp.

void Object::setHeight ( const double height )

Height value mutator.

Set the height value of this Object.

Parameters:

height The new height value of this Object.

Definition at line 91 of file Object.cpp.

void Object::setName ( const std::string & name )

Name value mutator.

Set the name value of this Object.

Parameters:

name	The new name value of this Object.

Definition at line 36 of file Object.cpp.

void Object::setPose ( geometry::Pose & pose )

Pose value mutator.

Set the Pose value of this Object.

Parameters:

pose	The new Pose value of this Object.

Definition at line 61 of file Object.cpp.

void Object::setWidth ( const double width )

Width value mutator.

Set the width value of this Object.

Parameters:

width The new width value of this Object.

Definition at line 71 of file Object.cpp.

Member Data Documentation

std::vector<std::string> rail::spatial_temporal_learning::worldlib::world::Object::aliases_ [private]

List of name aliases.

Definition at line 264 of file Object.h.

double rail::spatial_temporal_learning::worldlib::world::Object::depth_ [private]

Definition at line 262 of file Object.h.

std::string rail::spatial_temporal_learning::worldlib::world::Object::frame_id_ [private]

Definition at line 258 of file Object.h.

double rail::spatial_temporal_learning::worldlib::world::Object::height_ [private]

Definition at line 262 of file Object.h.

std::string rail::spatial_temporal_learning::worldlib::world::Object::name_ [private]

Name of the object and frame ID.

Definition at line 258 of file Object.h.

geometry::Pose rail::spatial_temporal_learning::worldlib::world::Object::pose_ [private]

The pose of the object with respect to the parent's frame

Definition at line 260 of file Object.h.

double rail::spatial_temporal_learning::worldlib::world::Object::width_ [private]

Size of the object.

Definition at line 262 of file Object.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation