#include <WorldModelROS.h>
Public Member Functions | |
const std::list< SemanticObject * > & | getMAPObjects () const |
void | processEvidence (const ros::Duration max_duration) |
void | processEvidence (const wire_msgs::WorldEvidence &world_evidence_msg) |
void | publish () const |
void | registerEvidenceTopic (const std::string &topic_name) |
void | showStatistics () const |
void | start () |
void | startThreaded () |
WorldModelROS (tf::TransformListener *tf_listener=0) | |
virtual | ~WorldModelROS () |
Protected Member Functions | |
void | evidenceCallback (const wire_msgs::WorldEvidence::ConstPtr &world_evidence_msg) |
bool | hypothesisToMsg (const mhf::Hypothesis &hyp, wire_msgs::WorldState &msg) const |
bool | initialize () |
void | initializeMHF () |
bool | objectToMsg (const SemanticObject &obj, wire_msgs::ObjectState &msg) const |
void | printWorldObjects (const mhf::Hypothesis &hyp) const |
bool | resetWorldModel (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
void | shutdown () |
bool | transformOrientation (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const |
bool | transformPosition (const pbl::PDF &pdf_in, const std::string &frame_in, pbl::Gaussian &pdf_out) const |
Protected Attributes | |
std::list< wire_msgs::WorldEvidence > | evidence_buffer_ |
bool | is_tf_owner_ |
ros::Time | last_update_ |
double | last_update_duration |
double | loop_rate_ |
int | max_num_hyps_ |
double | max_update_duration |
double | min_prob_ratio_ |
std::string | output_frame_id_ |
boost::thread | processing_thread_ |
ros::Publisher | pub_wm_ |
ros::ServiceServer | srv_reset_ |
std::list< ros::Subscriber > | subs_evidence_ |
tf::TransformListener * | tf_listener_ |
std::stringstream | warnings_ |
mhf::HypothesisTree * | world_model_ |
std::string | world_model_frame_id_ |
Definition at line 34 of file WorldModelROS.h.
WorldModelROS::WorldModelROS | ( | tf::TransformListener * | tf_listener = 0 | ) |
Definition at line 20 of file WorldModelROS.cpp.
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Definition at line 27 of file WorldModelROS.cpp.
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Definition at line 212 of file WorldModelROS.cpp.
const list< SemanticObject * > & WorldModelROS::getMAPObjects | ( | ) | const |
Definition at line 319 of file WorldModelROS.cpp.
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Definition at line 133 of file WorldModelROS.cpp.
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Definition at line 43 of file WorldModelROS.cpp.
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Definition at line 116 of file WorldModelROS.cpp.
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void WorldModelROS::processEvidence | ( | const ros::Duration | max_duration | ) |
Definition at line 216 of file WorldModelROS.cpp.
void WorldModelROS::processEvidence | ( | const wire_msgs::WorldEvidence & | world_evidence_msg | ) |
Definition at line 233 of file WorldModelROS.cpp.
void WorldModelROS::publish | ( | ) | const |
Definition at line 310 of file WorldModelROS.cpp.
void WorldModelROS::registerEvidenceTopic | ( | const std::string & | topic_name | ) |
Definition at line 88 of file WorldModelROS.cpp.
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Definition at line 304 of file WorldModelROS.cpp.
void WorldModelROS::showStatistics | ( | ) | const |
Definition at line 323 of file WorldModelROS.cpp.
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void WorldModelROS::start | ( | ) |
Definition at line 97 of file WorldModelROS.cpp.
void WorldModelROS::startThreaded | ( | ) |
Definition at line 93 of file WorldModelROS.cpp.
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Definition at line 184 of file WorldModelROS.cpp.
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Definition at line 156 of file WorldModelROS.cpp.
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Definition at line 65 of file WorldModelROS.h.
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Definition at line 72 of file WorldModelROS.h.
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Definition at line 98 of file WorldModelROS.h.
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Definition at line 83 of file WorldModelROS.h.
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Definition at line 62 of file WorldModelROS.h.
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Definition at line 94 of file WorldModelROS.h.
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Definition at line 84 of file WorldModelROS.h.
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Definition at line 96 of file WorldModelROS.h.
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Definition at line 90 of file WorldModelROS.h.
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Definition at line 60 of file WorldModelROS.h.
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Definition at line 75 of file WorldModelROS.h.
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Definition at line 80 of file WorldModelROS.h.
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Definition at line 78 of file WorldModelROS.h.
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Definition at line 71 of file WorldModelROS.h.
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Definition at line 92 of file WorldModelROS.h.
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Definition at line 68 of file WorldModelROS.h.
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Definition at line 87 of file WorldModelROS.h.