object_tracker::ObjectTracker Class Reference

#include <object_tracker.h>

Public Member Functions
bool	addObjectCb (worldmodel_msgs::AddObject::Request &request, worldmodel_msgs::AddObject::Response &response)
const ObjectModel &	getModel () const
ObjectModel &	getModel ()
bool	getObjectModelCb (worldmodel_msgs::GetObjectModel::Request &request, worldmodel_msgs::GetObjectModel::Response &response)
void	imagePerceptCb (const worldmodel_msgs::ImagePerceptConstPtr &)
void	objectAgeingCb (const std_msgs::Float32ConstPtr &)
	ObjectTracker ()
void	posePerceptCb (const worldmodel_msgs::PosePerceptConstPtr &)
void	publishModel ()
bool	setObjectNameCb (worldmodel_msgs::SetObjectName::Request &request, worldmodel_msgs::SetObjectName::Response &response)
bool	setObjectStateCb (worldmodel_msgs::SetObjectState::Request &request, worldmodel_msgs::SetObjectState::Response &response)
void	sysCommandCb (const std_msgs::StringConstPtr &)
virtual	~ObjectTracker ()
Protected Member Functions
bool	mapToNextObstacle (const geometry_msgs::Pose &source, const std_msgs::Header &header, geometry_msgs::Pose &mapped)
bool	transformPose (const geometry_msgs::PoseWithCovariance &from, geometry_msgs::PoseWithCovariance &to, std_msgs::Header &header)
bool	transformPose (const geometry_msgs::Pose &from, geometry_msgs::Pose &to, std_msgs::Header &header, tf::StampedTransform *transform=0)
Private Types
typedef boost::shared_ptr < image_geometry::PinholeCameraModel >	CameraModelPtr
typedef std::pair < ros::ServiceClient, XmlRpc::XmlRpcValue >	VerificationService
Private Attributes
double	_active_support
double	_active_time
double	_ageing_threshold
double	_angle_variance
double	_default_distance
double	_distance_variance
std::string	_frame_id
double	_max_height
double	_min_height
double	_pending_support
double	_pending_time
bool	_project_objects
std::string	_worldmodel_ns
ros::ServiceServer	addObject
std::map< std::string, CameraModelPtr >	cameraModels
ros::ServiceClient	distanceToObstacle
HectorDrawings	drawings
ros::ServiceServer	getObjectModel
ros::Subscriber	imagePerceptSubscriber
ObjectModel	model
ros::Publisher	modelPublisher
ros::Publisher	modelUpdatePublisher
ros::NodeHandle	nh
ros::Subscriber	objectAgeingSubscriber
ros::Publisher	pointDebugPublisher
ros::Publisher	poseDebugPublisher
ros::Subscriber	posePerceptSubscriber
ros::ServiceServer	setObjectName
ros::ServiceServer	setObjectState
ros::Subscriber	sysCommandSubscriber
tf::TransformListener	tf
std::map< std::string, std::map< std::string, std::vector < VerificationService > > >	verificationServices

Detailed Description

Definition at line 25 of file object_tracker.h.

Member Typedef Documentation

typedef boost::shared_ptr<image_geometry::PinholeCameraModel> object_tracker::ObjectTracker::CameraModelPtr [private]

Definition at line 76 of file object_tracker.h.

typedef std::pair<ros::ServiceClient,XmlRpc::XmlRpcValue> object_tracker::ObjectTracker::VerificationService [private]

Definition at line 68 of file object_tracker.h.

Constructor & Destructor Documentation

object_tracker::ObjectTracker::ObjectTracker ( )

Definition at line 4 of file object_tracker.cpp.

object_tracker::ObjectTracker::~ObjectTracker ( ) [virtual]

Definition at line 86 of file object_tracker.cpp.

Member Function Documentation

bool object_tracker::ObjectTracker::addObjectCb	(	worldmodel_msgs::AddObject::Request &	request,
		worldmodel_msgs::AddObject::Response &	response
	)

Definition at line 507 of file object_tracker.cpp.

const ObjectModel& object_tracker::ObjectTracker::getModel ( ) const [inline]

Definition at line 41 of file object_tracker.h.

ObjectModel& object_tracker::ObjectTracker::getModel ( ) [inline]

Definition at line 40 of file object_tracker.h.

bool object_tracker::ObjectTracker::getObjectModelCb	(	worldmodel_msgs::GetObjectModel::Request &	request,
		worldmodel_msgs::GetObjectModel::Response &	response
	)

Definition at line 569 of file object_tracker.cpp.

void object_tracker::ObjectTracker::imagePerceptCb ( const worldmodel_msgs::ImagePerceptConstPtr & percept )

Definition at line 98 of file object_tracker.cpp.

bool object_tracker::ObjectTracker::mapToNextObstacle	(	const geometry_msgs::Pose &	source,
		const std_msgs::Header &	header,
		geometry_msgs::Pose &	mapped
	)			`[protected]`

Definition at line 574 of file object_tracker.cpp.

void object_tracker::ObjectTracker::objectAgeingCb ( const std_msgs::Float32ConstPtr & ageing )

Definition at line 444 of file object_tracker.cpp.

void object_tracker::ObjectTracker::posePerceptCb ( const worldmodel_msgs::PosePerceptConstPtr & percept )

Definition at line 190 of file object_tracker.cpp.

void object_tracker::ObjectTracker::publishModel ( )

Definition at line 638 of file object_tracker.cpp.

bool object_tracker::ObjectTracker::setObjectNameCb	(	worldmodel_msgs::SetObjectName::Request &	request,
		worldmodel_msgs::SetObjectName::Response &	response
	)

Definition at line 490 of file object_tracker.cpp.

bool object_tracker::ObjectTracker::setObjectStateCb	(	worldmodel_msgs::SetObjectState::Request &	request,
		worldmodel_msgs::SetObjectState::Response &	response
	)

Definition at line 473 of file object_tracker.cpp.

void object_tracker::ObjectTracker::sysCommandCb ( const std_msgs::StringConstPtr & sysCommand )

Definition at line 89 of file object_tracker.cpp.

bool object_tracker::ObjectTracker::transformPose	(	const geometry_msgs::PoseWithCovariance &	from,
		geometry_msgs::PoseWithCovariance &	to,
		std_msgs::Header &	header
	)			`[protected]`

Definition at line 627 of file object_tracker.cpp.

bool object_tracker::ObjectTracker::transformPose	(	const geometry_msgs::Pose &	from,
		geometry_msgs::Pose &	to,
		std_msgs::Header &	header,
		tf::StampedTransform *	transform = `0`
	)			`[protected]`