visp_tracker::Tracker Class Reference

#include <tracker.hh>

List of all members.

Public Types
typedef vpImage< unsigned char >	image_t
typedef boost::function< bool(visp_tracker::Init::Request &, visp_tracker::Init::Response &res)>	initCallback_t
typedef dynamic_reconfigure::Server < visp_tracker::MovingEdgeConfig >	reconfigureSrv_t
enum	State { WAITING_FOR_INITIALIZATION, TRACKING, LOST }
Public Member Functions
void	spin ()
	Tracker (unsigned queueSize=5u)
Protected Member Functions
void	cameraVelocityCallback (const geometry_msgs::TwistStampedConstPtr &twist)
void	checkInputs ()
bool	initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void	integrateCameraVelocity (const std_msgs::Header &lastHeader, const std_msgs::Header &currentHeader)
void	updateMovingEdgeSites ()
std::string	velocitiesDebugMessage ()
void	waitForImage ()
Private Types
typedef boost::circular_buffer < velocityDuringInterval_t >	velocities_t
typedef std::pair< double, vpColVector >	velocityDuringInterval_t
Private Attributes
std::string	cameraInfoTopic_
vpCameraParameters	cameraParameters_
std::string	cameraPrefix_
image_transport::CameraSubscriber	cameraSubscriber_
ros::Subscriber	cameraVelocitySubscriber_
image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist.
std::string	childFrameId_
vpHomogeneousMatrix	cMo_
std_msgs::Header	header_
image_t	image_
image_transport::ImageTransport	imageTransport_
sensor_msgs::CameraInfoConstPtr	info_
ros::ServiceServer	initService_
unsigned	lastTrackedImage_
vpMe	movingEdge_
ros::Publisher	movingEdgeSitesPublisher_
ros::NodeHandle	nodeHandle_
unsigned	queueSize_
reconfigureSrv_t	reconfigureSrv_
std::string	rectifiedImageTopic_
ros::Publisher	resultPublisher_
visp_tracker::MovingEdgeSites	sites_
State	state_
tf::TransformBroadcaster	tfBroadcaster_
vpMbEdgeTracker	tracker_
ros::Publisher	transformationPublisher_
tf::TransformBroadcaster	transformBroadcaster_
velocities_t	velocities_
boost::filesystem::path	vrmlPath_
Static Private Attributes
static const velocities_t::size_type	MAX_VELOCITY_VALUES = 1000

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Detailed Description

Definition at line 31 of file tracker.hh.

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Member Typedef Documentation

typedef vpImage<unsigned char> visp_tracker::Tracker::image_t

Definition at line 34 of file tracker.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::Tracker::initCallback_t

Definition at line 41 of file tracker.hh.

typedef dynamic_reconfigure::Server<visp_tracker::MovingEdgeConfig> visp_tracker::Tracker::reconfigureSrv_t

Definition at line 37 of file tracker.hh.

typedef boost::circular_buffer<velocityDuringInterval_t> visp_tracker::Tracker::velocities_t [private]

Definition at line 70 of file tracker.hh.

typedef std::pair<double, vpColVector> visp_tracker::Tracker::velocityDuringInterval_t [private]

Definition at line 69 of file tracker.hh.

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Member Enumeration Documentation

enum visp_tracker::Tracker::State

Enumerator:

WAITING_FOR_INITIALIZATION
TRACKING
LOST

Definition at line 43 of file tracker.hh.

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Constructor & Destructor Documentation

visp_tracker::Tracker::Tracker

(

unsigned

queueSize = 5u

)

Definition at line 190 of file libvisp_tracker/tracker.cpp.

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Member Function Documentation

void visp_tracker::Tracker::cameraVelocityCallback

(

const geometry_msgs::TwistStampedConstPtr &

twist

)

[protected]

Definition at line 118 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::checkInputs

(

)

[protected]

Definition at line 183 of file libvisp_tracker/tracker.cpp.

bool visp_tracker::Tracker::initCallback	(	visp_tracker::Init::Request &	req,
		visp_tracker::Init::Response &	res
	)			[protected]

Definition at line 35 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::integrateCameraVelocity	(	const std_msgs::Header &	lastHeader,
		const std_msgs::Header &	currentHeader
	)			[protected]

Definition at line 342 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::spin

(

)

Definition at line 445 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::updateMovingEdgeSites

(

)

[protected]

Definition at line 155 of file libvisp_tracker/tracker.cpp.

std::string visp_tracker::Tracker::velocitiesDebugMessage

(

)

[protected]

Definition at line 432 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::waitForImage

(

)

[protected]

Definition at line 552 of file libvisp_tracker/tracker.cpp.

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Member Data Documentation

std::string visp_tracker::Tracker::cameraInfoTopic_ [private]

Definition at line 84 of file tracker.hh.

vpCameraParameters visp_tracker::Tracker::cameraParameters_ [private]

Definition at line 103 of file tracker.hh.

std::string visp_tracker::Tracker::cameraPrefix_ [private]

Definition at line 82 of file tracker.hh.

image_transport::CameraSubscriber visp_tracker::Tracker::cameraSubscriber_ [private]

Definition at line 88 of file tracker.hh.

ros::Subscriber visp_tracker::Tracker::cameraVelocitySubscriber_ [private]

Definition at line 95 of file tracker.hh.

image_proc::AdvertisementChecker visp_tracker::Tracker::checkInputs_ [private]

Helper used to check that subscribed topics exist.

Definition at line 111 of file tracker.hh.

std::string visp_tracker::Tracker::childFrameId_ [private]

Definition at line 118 of file tracker.hh.

vpHomogeneousMatrix visp_tracker::Tracker::cMo_ [private]

Definition at line 113 of file tracker.hh.

std_msgs::Header visp_tracker::Tracker::header_ [private]

Definition at line 99 of file tracker.hh.

image_t visp_tracker::Tracker::image_ [private]

Definition at line 80 of file tracker.hh.

image_transport::ImageTransport visp_tracker::Tracker::imageTransport_ [private]

Definition at line 76 of file tracker.hh.

sensor_msgs::CameraInfoConstPtr visp_tracker::Tracker::info_ [private]

Definition at line 100 of file tracker.hh.

ros::ServiceServer visp_tracker::Tracker::initService_ [private]

Definition at line 97 of file tracker.hh.

unsigned visp_tracker::Tracker::lastTrackedImage_ [private]

Definition at line 108 of file tracker.hh.

const velocities_t::size_type visp_tracker::Tracker::MAX_VELOCITY_VALUES = 1000 [static, private]

Definition at line 71 of file tracker.hh.

vpMe visp_tracker::Tracker::movingEdge_ [private]

Definition at line 102 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::movingEdgeSitesPublisher_ [private]

Definition at line 94 of file tracker.hh.

ros::NodeHandle visp_tracker::Tracker::nodeHandle_ [private]

Definition at line 75 of file tracker.hh.

unsigned visp_tracker::Tracker::queueSize_ [private]

Definition at line 73 of file tracker.hh.

reconfigureSrv_t visp_tracker::Tracker::reconfigureSrv_ [private]

Definition at line 90 of file tracker.hh.

std::string visp_tracker::Tracker::rectifiedImageTopic_ [private]

Definition at line 83 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::resultPublisher_ [private]

Definition at line 91 of file tracker.hh.

visp_tracker::MovingEdgeSites visp_tracker::Tracker::sites_ [private]

Definition at line 106 of file tracker.hh.

State visp_tracker::Tracker::state_ [private]

Definition at line 78 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::tfBroadcaster_ [private]

Definition at line 93 of file tracker.hh.

vpMbEdgeTracker visp_tracker::Tracker::tracker_ [private]

Definition at line 104 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::transformationPublisher_ [private]

Definition at line 92 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::transformBroadcaster_ [private]

Definition at line 117 of file tracker.hh.

velocities_t visp_tracker::Tracker::velocities_ [private]

Definition at line 115 of file tracker.hh.

boost::filesystem::path visp_tracker::Tracker::vrmlPath_ [private]

Definition at line 86 of file tracker.hh.

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

• tracker.hh
• libvisp_tracker/tracker.cpp