Classes | Typedefs | Enumerations | Functions | Variables
omip Namespace Reference

Classes

struct  _FeaturePCLwc
 
class  Feature
 
struct  FeaturePCLwc
 
class  FeaturesDataBase
 
class  MultiRBTracker
 
class  MultiRBTrackerNode
 
class  RBFilter
 
class  RecursiveEstimatorFilterInterface
 
class  RecursiveEstimatorNodeInterface
 
class  StaticEnvironmentFilter
 

Typedefs

typedef pcl::PointCloud< FeaturePCLFeatureCloudPCL
 
typedef pcl::PointCloud< FeaturePCLwcFeatureCloudPCLwc
 
typedef pcl::PointXYZL FeaturePCL
 
typedef void ft_measurement_ros_t
 
typedef std::pair< cv_bridge::CvImagePtr, cv_bridge::CvImagePtrft_measurement_t
 
typedef sensor_msgs::PointCloud2 ft_state_ros_t
 
typedef FeatureCloudPCLwc::Ptr ft_state_t
 
typedef long int Joint_id_t
 
typedef std::pair< omip_msgs::RigidBodyPoseAndVelMsg, omip_msgs::RigidBodyPoseAndVelMsg > joint_measurement_t
 
typedef std::map< std::pair< int, int >, boost::shared_ptr< JointCombinedFilter > > KinematicModel
 
typedef omip_msgs::RigidBodyPosesAndVelsMsg ks_measurement_ros_t
 
typedef omip_msgs::RigidBodyPosesAndVelsMsg ks_measurement_t
 
typedef omip_msgs::KinematicStructureMsg::Ptr ks_state_ros_t
 
typedef KinematicModel ks_state_t
 
typedef pcl::PointCloud< pcl::PointXYZRGB > PointCloudPCL
 
typedef pcl::PointCloud< PointPCLPointCloudPCLNoColor
 
typedef pcl::PointXYZ PointPCL
 
typedef long int RB_id_t
 
typedef sensor_msgs::PointCloud2 rbt_measurement_ros_t
 
typedef FeatureCloudPCLwc::Ptr rbt_measurement_t
 
typedef omip_msgs::RigidBodyPosesAndVelsMsg rbt_state_ros_t
 
typedef omip_msgs::RigidBodyPosesAndVelsMsg rbt_state_t
 
typedef pcl::PointCloud< PointPCLRigidBodyShape
 

Enumerations

enum  MotionConstraint {
  NO_CONSTRAINED = 0, NO_ROLL_PITCH = 1, NO_ROLL_PITCH_TZ = 2, NO_TRANSLATION = 3,
  NO_TRANSLATION_ROLL_YAW = 4, NO_ROTATION = 5, NO_MOTION = 6, ROBOT_XY_BASELINK_PLANE = 7
}
 
enum  shape_model_selector_t
 
enum  static_environment_tracker_t
 

Functions

void EigenAffine2TranslationAndEulerAngles (const Eigen::Affine3d &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
 
void EigenTwist2GeometryMsgsTwist (Eigen::Twistd &eigen_twist, geometry_msgs::Twist &gm_twist)
 
void GeometryMsgsTwist2EigenTwist (const geometry_msgs::Twist &gm_twist, Eigen::Twistd &eigen_twist)
 
void invert3x3Matrix (const MatrixWrapper::Matrix &to_inv, MatrixWrapper::Matrix &inverse)
 
void invert3x3MatrixEigen (const Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &to_inv, Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &inverse)
 
void invert3x3MatrixEigen2 (const Eigen::Matrix3d &to_inv, Eigen::Matrix3d &inverse)
 
Eigen::Twistd invertTwist (Eigen::Twistd &current_twist, Eigen::Twistd &previous_twist, bool &inverted)
 
bool isFinite (const Eigen::Matrix4d &transformation)
 
double L2Distance (const Feature::Location &first, const Feature::Location &second)
 
void Location2PointPCL (const Feature::Location &point_location, pcl::PointXYZ &point_pcl)
 
void LocationAndId2FeaturePCL (const Feature::Location &feature_location, const Feature::Id &feature_id, pcl::PointXYZL &feature_pcl)
 
void LocationAndId2FeaturePCLwc (const Feature::Location &feature_location, const Feature::Id &feature_id, omip::FeaturePCLwc &feature_pcl)
 
void LocationOfFeature2ColumnVector (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
 
void LocationOfFeature2ColumnVectorHomogeneous (const Feature::Location &lof, MatrixWrapper::ColumnVector &col_vec)
 
void LocationOfFeature2EigenVectorHomogeneous (const Feature::Location &lof, Eigen::Vector4d &eig_vec)
 
Feature::Location operator+ (const Feature::Location &location1, const Feature::Location &location2)
 
Feature::Location operator- (const Feature::Location &location1, const Feature::Location &location2)
 
std::ostream & operator<< (std::ostream &os, std::vector< Feature::Id > vector_ids)
 
std::ostream & operator<< (std::ostream &os, Eigen::Twistd twistd)
 
std::ostream & operator<< (std::ostream &os, Feature::Location location)
 
void ROSTwist2EigenTwist (const geometry_msgs::Twist &ros_twist, Eigen::Twistd &eigen_twist)
 
double sampleNormal (double mean, double std_dev)
 
void TransformLocation (const Feature::Location &origin, const Eigen::Matrix4d &transformation, Feature::Location &new_location)
 
void TransformLocation (const Feature::Location &origin, const geometry_msgs::Twist &twist, Feature::Location &new_location)
 
void TransformLocation (const Feature::Location &origin, const Eigen::Twistd &twist, Feature::Location &new_location, int feat_id=0)
 
void TransformMatrix2Twist (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist)
 
void TransformMatrix2TwistUnwrapped (const Eigen::Matrix4d &transformation_matrix, Eigen::Twistd &twist, const Eigen::Twistd &twist_previous)
 
void TranslationAndEulerAngles2EigenAffine (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw, Eigen::Transform< double, 3, Eigen::Affine > &t)
 
void Twist2TransformMatrix (const Eigen::Twistd &transformation_twist, Eigen::Matrix4d &matrix)
 
Eigen::Twistd unwrapTwist (Eigen::Twistd &current_twist, Eigen::Displacementd &current_displacement, Eigen::Twistd &previous_twist, bool &changed)
 

Variables

 BASED_ON_COLOR
 
 BASED_ON_DEPTH
 
 BASED_ON_EXT_COLOR
 
 BASED_ON_EXT_DEPTH
 
 BASED_ON_EXT_DEPTH_AND_COLOR
 
 STATIC_ENVIRONMENT_EKF_TRACKER
 
 STATIC_ENVIRONMENT_ICP_TRACKER
 

Detailed Description

NOTE: The purpose of this program is to construct a kalman filter (EKF) for the problem of tracking a rigid body from a varying set of 3d tracked points.

We maintain in parallel two linear SYSTEM MODELS (leading to two EKFs) to update the state based on the previous step (and an input signal that in our EKF is always 0)

The MEASUREMENT MODEL predicts the next measurement based on the next state predicted by the SYSTEM MODEL. The MEASUREMENT MODEL of our two parallel EKFs is: z = M*[(pose_k)*initial_point_location]

Enumeration Type Documentation

Enumerator
NO_CONSTRAINED 
NO_ROLL_PITCH 
NO_ROLL_PITCH_TZ 
NO_TRANSLATION 
NO_TRANSLATION_ROLL_YAW 
NO_ROTATION 
NO_MOTION 
ROBOT_XY_BASELINK_PLANE 

Definition at line 43 of file StaticEnvironmentFilter.h.



rb_tracker
Author(s): Roberto Martín-Martín
autogenerated on Mon Jun 10 2019 14:06:11