ProbabilisticSceneRecognition::ObjectEvidence Class Reference

#include <ObjectEvidence.h>

Public Member Functions
void	getEvidences (std::vector< ISM::Object > &pEvidences)
bool	hasWaitingEvidences ()
	ObjectEvidence ()
void	push (const boost::shared_ptr< const ISM::Object > &pObject)
void	update ()
	~ObjectEvidence ()

Private Attributes
std::vector< ISM::Object >	mBuffer
std::map< std::string, std::map< std::string, KalmanFilter > >	mObjectEvidences
int	mTimeout

Detailed Description

This class acts as a container for the object evidence. It states whether a given evidence is an update of an already known object or a new one. It is possible to return the evidences as a vector that can be distributed to the parts of the model that require the evicendes.

The container is able to forgot already seen objects if the specified threshold is exceeded.

Author

Joachim Gehrung

Version

See SVN

Definition at line 46 of file ObjectEvidence.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::ObjectEvidence::ObjectEvidence

(

)

Constructor.

Definition at line 22 of file ObjectEvidence.cpp.

ProbabilisticSceneRecognition::ObjectEvidence::~ObjectEvidence

(

)

Destructor.

Definition at line 31 of file ObjectEvidence.cpp.

Member Function Documentation

void ProbabilisticSceneRecognition::ObjectEvidence::getEvidences

(

std::vector< ISM::Object > &

pEvidences

)

Returns a list of all evidences found till now.

Parameters

pEvidences

A vector containing all evidences.

Definition at line 119 of file ObjectEvidence.cpp.

bool ProbabilisticSceneRecognition::ObjectEvidence::hasWaitingEvidences

(

)

Checks, if new evidence has been added since the last model update.

Returns

True, if new evidence was added and not yet integrated into the model.

Definition at line 41 of file ObjectEvidence.cpp.

void ProbabilisticSceneRecognition::ObjectEvidence::push

(

const boost::shared_ptr< const ISM::Object > &

pObject

)

Adds an object evidence to the buffer.

Parameters

pObject

AsrObject message containing information about the evidence.

Definition at line 35 of file ObjectEvidence.cpp.

void ProbabilisticSceneRecognition::ObjectEvidence::update

(

)

Integrates all evidences into the list and checks whether there are new evidences found. This method must be called before the evidence list can be requested.

Definition at line 46 of file ObjectEvidence.cpp.

Member Data Documentation

std::vector<ISM::Object> ProbabilisticSceneRecognition::ObjectEvidence::mBuffer

private

A temporary buffer for accumulating evidences.

Definition at line 96 of file ObjectEvidence.h.

std::map<std::string, std::map<std::string, KalmanFilter> > ProbabilisticSceneRecognition::ObjectEvidence::mObjectEvidences

private

A map for storing the object evidences, indexed by the object type and identifier. The tuple (object type, object identifier) is an unique key for every found object.

Definition at line 102 of file ObjectEvidence.h.

int ProbabilisticSceneRecognition::ObjectEvidence::mTimeout

private

Evidences older than this time in milliseconds are erased from the list.

Definition at line 91 of file ObjectEvidence.h.

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

• ObjectEvidence.h
• ObjectEvidence.cpp