FeatureMapAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <feature_map_alg.h>

List of all members.

Public Types
typedef iri_feature_map::FeatureMapConfig	Config
	define config type
Public Member Functions
void	compute_feature_response_map (const normal_descriptor_node::ndesc_pc &ndesc_pc_msg, pcl::PointCloud< pcl::PointXYZRGB > &hmap)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	FeatureMapAlgorithm (void)
	constructor
float	get_last_cluster_max_score ()
float	get_last_cluster_min_score ()
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
void	update_params (const iri_publish_params::classifier_update &params)
void	update_selected_vector (const int selected)
	~FeatureMapAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
float	eval_clusters (const std::vector< float > &vect, bool suppress_nonselected)
float	eval_linear (const std::vector< float > &vect)
float	eval_logistic (const std::vector< float > &vect)
Protected Attributes
CMutex	alg_mutex_
	define config type
Eigen::MatrixXf	classifiers_
std::string	filename_
int	filter_method_
float	last_eval_cluster_max_score
float	last_eval_cluster_min_score
int	sel_vector_

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 50 of file feature_map_alg.h.

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Member Typedef Documentation

typedef iri_feature_map::FeatureMapConfig FeatureMapAlgorithm::Config

define config type

Define a Config type with the FeatureMapConfig. All driver implementations will then use the same variable type Config.

Definition at line 82 of file feature_map_alg.h.

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Constructor & Destructor Documentation

FeatureMapAlgorithm::FeatureMapAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file feature_map_alg.cpp.

FeatureMapAlgorithm::~FeatureMapAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 8 of file feature_map_alg.cpp.

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Member Function Documentation

void FeatureMapAlgorithm::compute_feature_response_map	(	const normal_descriptor_node::ndesc_pc &	ndesc_pc_msg,
		pcl::PointCloud< pcl::PointXYZRGB > &	hmap
	)

Definition at line 82 of file feature_map_alg.cpp.

void FeatureMapAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 12 of file feature_map_alg.cpp.

float FeatureMapAlgorithm::eval_clusters	(	const std::vector< float > &	vect,
		bool	suppress_nonselected
	)		[protected]

Definition at line 22 of file feature_map_alg.cpp.

float FeatureMapAlgorithm::eval_linear

(

const std::vector< float > &

vect

)

[protected]

Definition at line 68 of file feature_map_alg.cpp.

float FeatureMapAlgorithm::eval_logistic

(

const std::vector< float > &

vect

)

[protected]

Definition at line 73 of file feature_map_alg.cpp.

float FeatureMapAlgorithm::get_last_cluster_max_score

(

)

Definition at line 177 of file feature_map_alg.cpp.

float FeatureMapAlgorithm::get_last_cluster_min_score

(

)

Definition at line 183 of file feature_map_alg.cpp.

void FeatureMapAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 112 of file feature_map_alg.h.

bool FeatureMapAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 128 of file feature_map_alg.h.

void FeatureMapAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 119 of file feature_map_alg.h.

void FeatureMapAlgorithm::update_params

(

const iri_publish_params::classifier_update &

params

)

Definition at line 151 of file feature_map_alg.cpp.

void FeatureMapAlgorithm::update_selected_vector

(

const int

selected

)

Definition at line 171 of file feature_map_alg.cpp.

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Member Data Documentation

CMutex FeatureMapAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the FeatureMapConfig. All driver implementations will then use the same variable type Config.

Definition at line 59 of file feature_map_alg.h.

Eigen::MatrixXf FeatureMapAlgorithm::classifiers_ [protected]

Definition at line 64 of file feature_map_alg.h.

Config FeatureMapAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 95 of file feature_map_alg.h.

std::string FeatureMapAlgorithm::filename_ [protected]

Definition at line 65 of file feature_map_alg.h.

int FeatureMapAlgorithm::filter_method_ [protected]

Definition at line 63 of file feature_map_alg.h.

float FeatureMapAlgorithm::last_eval_cluster_max_score [protected]

Definition at line 72 of file feature_map_alg.h.

float FeatureMapAlgorithm::last_eval_cluster_min_score [protected]

Definition at line 73 of file feature_map_alg.h.

int FeatureMapAlgorithm::sel_vector_ [protected]

Definition at line 62 of file feature_map_alg.h.

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

• feature_map_alg.h
• feature_map_alg.cpp