hector_object_tracker::ObjectTracker Class Reference

#include <object_tracker.h>

List of all members.

Classes
struct	MergedModelInfo
struct	NegativeUpdateInfo
Public Member Functions
	ObjectTracker ()
virtual	~ObjectTracker ()
Protected Member Functions
bool	addObjectCb (hector_worldmodel_msgs::AddObject::Request &request, hector_worldmodel_msgs::AddObject::Response &response)
ObjectModel	getMergedModel ()
ObjectModel &	getModel ()
const ObjectModel &	getModel () const
bool	getObjectModelCb (hector_worldmodel_msgs::GetObjectModel::Request &request, hector_worldmodel_msgs::GetObjectModel::Response &response)
void	imagePerceptCb (const hector_worldmodel_msgs::ImagePerceptConstPtr &)
bool	mapToNextObstacle (const geometry_msgs::Pose &source, const std_msgs::Header &header, const ObjectInfo &info, geometry_msgs::Pose &mapped)
void	modelUpdateCb (const hector_worldmodel_msgs::ObjectModelConstPtr &)
void	objectAgeingCb (const std_msgs::Float32ConstPtr &)
void	posePerceptCb (const hector_worldmodel_msgs::PosePerceptConstPtr &)
void	publishModel ()
void	publishModelEvent (const ros::TimerEvent &)
bool	setObjectNameCb (hector_worldmodel_msgs::SetObjectName::Request &request, hector_worldmodel_msgs::SetObjectName::Response &response)
bool	setObjectStateCb (hector_worldmodel_msgs::SetObjectState::Request &request, hector_worldmodel_msgs::SetObjectState::Response &response)
void	sysCommandCb (const std_msgs::StringConstPtr &)
bool	transformPose (const geometry_msgs::Pose &from, geometry_msgs::Pose &to, std_msgs::Header &header, tf::StampedTransform *transform=0)
bool	transformPose (const geometry_msgs::PoseWithCovariance &from, geometry_msgs::PoseWithCovariance &to, std_msgs::Header &header)
Private Types
typedef boost::shared_ptr < image_geometry::PinholeCameraModel >	CameraModelPtr
typedef boost::shared_ptr < MergedModelInfo >	MergedModelPtr
typedef boost::shared_ptr < NegativeUpdateInfo >	NegativeUpdatePtr
typedef std::pair < ros::ServiceClient, XmlRpc::XmlRpcValue >	VerificationService
Private Member Functions
ObjectTracker::CameraModelPtr	getCameraModel (const std::string &frame_id, const sensor_msgs::CameraInfo &camera_info)
void	mergeModelCallback (const hector_worldmodel_msgs::ObjectModelConstPtr &new_model, const MergedModelPtr &info)
void	negativeUpdateCallback (const sensor_msgs::CameraInfoConstPtr &, const NegativeUpdatePtr &info)
Private Attributes
double	_ageing_threshold
std::string	_frame_id
double	_publish_interval
std::string	_worldmodel_ns
ros::ServiceServer	addObject
std::map< std::string, CameraModelPtr >	cameraModels
HectorDrawings	drawings
ros::ServiceServer	getObjectModel
ros::Subscriber	imagePerceptSubscriber
std::vector< MergedModelPtr >	merged_models
ObjectModel	model
ros::Publisher	modelPublisher
ros::Publisher	modelUpdatePublisher
ros::Subscriber	modelUpdateSubscriber
std::vector< NegativeUpdatePtr >	negativeUpdate
ros::NodeHandle	nh
ros::Subscriber	objectAgeingSubscriber
ros::Publisher	pointDebugPublisher
ros::Publisher	poseDebugPublisher
ros::Subscriber	posePerceptSubscriber
ros::NodeHandle	priv_nh
ros::Timer	publishTimer
ros::ServiceServer	setObjectName
ros::ServiceServer	setObjectState
ros::Subscriber	sysCommandSubscriber
tf::TransformListener	tf
std::map< std::string, std::map< std::string, std::vector < VerificationService > > >	verificationServices

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Detailed Description

Definition at line 23 of file object_tracker.h.

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Member Typedef Documentation

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

Definition at line 97 of file object_tracker.h.

typedef boost::shared_ptr<MergedModelInfo> hector_object_tracker::ObjectTracker::MergedModelPtr [private]

Definition at line 106 of file object_tracker.h.

typedef boost::shared_ptr<NegativeUpdateInfo> hector_object_tracker::ObjectTracker::NegativeUpdatePtr [private]

Definition at line 72 of file object_tracker.h.

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

Definition at line 89 of file object_tracker.h.

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Constructor & Destructor Documentation

hector_object_tracker::ObjectTracker::ObjectTracker

(

)

Definition at line 16 of file object_tracker.cpp.

hector_object_tracker::ObjectTracker::~ObjectTracker

(

)

[virtual]

Definition at line 162 of file object_tracker.cpp.

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Member Function Documentation

bool hector_object_tracker::ObjectTracker::addObjectCb	(	hector_worldmodel_msgs::AddObject::Request &	request,
		hector_worldmodel_msgs::AddObject::Response &	response
	)		[protected]

Definition at line 599 of file object_tracker.cpp.

ObjectTracker::CameraModelPtr hector_object_tracker::ObjectTracker::getCameraModel	(	const std::string &	frame_id,
		const sensor_msgs::CameraInfo &	camera_info
	)		[private]

Definition at line 506 of file object_tracker.cpp.

ObjectModel hector_object_tracker::ObjectTracker::getMergedModel

(

)

[protected]

Definition at line 818 of file object_tracker.cpp.

ObjectModel& hector_object_tracker::ObjectTracker::getModel

(

)

[inline, protected]

Definition at line 41 of file object_tracker.h.

const ObjectModel& hector_object_tracker::ObjectTracker::getModel

(

)

const [inline, protected]

Definition at line 42 of file object_tracker.h.

bool hector_object_tracker::ObjectTracker::getObjectModelCb	(	hector_worldmodel_msgs::GetObjectModel::Request &	request,
		hector_worldmodel_msgs::GetObjectModel::Response &	response
	)		[protected]

Definition at line 658 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::imagePerceptCb

(

const hector_worldmodel_msgs::ImagePerceptConstPtr &

percept

)

[protected]

Definition at line 177 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::mapToNextObstacle	(	const geometry_msgs::Pose &	source,
		const std_msgs::Header &	header,
		const ObjectInfo &	info,
		geometry_msgs::Pose &	mapped
	)		[protected]

Definition at line 749 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::mergeModelCallback	(	const hector_worldmodel_msgs::ObjectModelConstPtr &	new_model,
		const MergedModelPtr &	info
	)		[private]

Definition at line 663 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::modelUpdateCb

(

const hector_worldmodel_msgs::ObjectModelConstPtr &

update

)

[protected]

Definition at line 552 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::negativeUpdateCallback	(	const sensor_msgs::CameraInfoConstPtr &	camera_info,
		const NegativeUpdatePtr &	info
	)		[private]

Definition at line 669 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::objectAgeingCb

(

const std_msgs::Float32ConstPtr &

ageing

)

[protected]

Definition at line 523 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::posePerceptCb

(

const hector_worldmodel_msgs::PosePerceptConstPtr &

percept

)

[protected]

Definition at line 261 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::publishModel

(

)

[protected]

Definition at line 838 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::publishModelEvent

(

const ros::TimerEvent &

)

[protected]

Definition at line 834 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::setObjectNameCb	(	hector_worldmodel_msgs::SetObjectName::Request &	request,
		hector_worldmodel_msgs::SetObjectName::Response &	response
	)		[protected]

Definition at line 582 of file object_tracker.cpp.

bool hector_object_tracker::ObjectTracker::setObjectStateCb	(	hector_worldmodel_msgs::SetObjectState::Request &	request,
		hector_worldmodel_msgs::SetObjectState::Response &	response
	)		[protected]

Definition at line 565 of file object_tracker.cpp.

void hector_object_tracker::ObjectTracker::sysCommandCb

(

const std_msgs::StringConstPtr &

sysCommand

)

[protected]

Definition at line 165 of file object_tracker.cpp.

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

Definition at line 785 of file object_tracker.cpp.

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

Definition at line 807 of file object_tracker.cpp.

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Member Data Documentation

double hector_object_tracker::ObjectTracker::_ageing_threshold [private]

Definition at line 113 of file object_tracker.h.

std::string hector_object_tracker::ObjectTracker::_frame_id [private]

Definition at line 110 of file object_tracker.h.

double hector_object_tracker::ObjectTracker::_publish_interval [private]

Definition at line 114 of file object_tracker.h.

std::string hector_object_tracker::ObjectTracker::_worldmodel_ns [private]

Definition at line 111 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::addObject [private]

Definition at line 83 of file object_tracker.h.

std::map<std::string,CameraModelPtr> hector_object_tracker::ObjectTracker::cameraModels [private]

Definition at line 98 of file object_tracker.h.

HectorDrawings hector_object_tracker::ObjectTracker::drawings [private]

Definition at line 94 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::getObjectModel [private]

Definition at line 84 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::imagePerceptSubscriber [private]

Definition at line 57 of file object_tracker.h.

std::vector<MergedModelPtr> hector_object_tracker::ObjectTracker::merged_models [private]

Definition at line 107 of file object_tracker.h.

ObjectModel hector_object_tracker::ObjectTracker::model [private]

Definition at line 96 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::modelPublisher [private]

Definition at line 76 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::modelUpdatePublisher [private]

Definition at line 77 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::modelUpdateSubscriber [private]

Definition at line 80 of file object_tracker.h.

std::vector<NegativeUpdatePtr> hector_object_tracker::ObjectTracker::negativeUpdate [private]

Definition at line 73 of file object_tracker.h.

ros::NodeHandle hector_object_tracker::ObjectTracker::nh [private]

Definition at line 55 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::objectAgeingSubscriber [private]

Definition at line 60 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::pointDebugPublisher [private]

Definition at line 79 of file object_tracker.h.

ros::Publisher hector_object_tracker::ObjectTracker::poseDebugPublisher [private]

Definition at line 78 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::posePerceptSubscriber [private]

Definition at line 58 of file object_tracker.h.

ros::NodeHandle hector_object_tracker::ObjectTracker::priv_nh [private]

Definition at line 56 of file object_tracker.h.

ros::Timer hector_object_tracker::ObjectTracker::publishTimer [private]

Definition at line 87 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::setObjectName [private]

Definition at line 85 of file object_tracker.h.

ros::ServiceServer hector_object_tracker::ObjectTracker::setObjectState [private]

Definition at line 82 of file object_tracker.h.

ros::Subscriber hector_object_tracker::ObjectTracker::sysCommandSubscriber [private]

Definition at line 59 of file object_tracker.h.

tf::TransformListener hector_object_tracker::ObjectTracker::tf [private]

Definition at line 92 of file object_tracker.h.

std::map<std::string,std::map<std::string,std::vector<VerificationService> > > hector_object_tracker::ObjectTracker::verificationServices [private]

Definition at line 90 of file object_tracker.h.

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

• object_tracker.h
• object_tracker.cpp