Public Member Functions | Protected Member Functions | Private Attributes
Position Class Reference

A Position descriptor defines a feature from the z-coordinate of the interest point or the interest region's centroid. More...

#include <position.h>

Inheritance diagram for Position:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void clearShared ()
 This descriptor uses no shared precomputation, so this method has no affect.
std::string getName () const
 Returns a name that is unique for any given setting of the parameters.
 Position ()
 Instantiates the position descriptor such that the z-coordinate is absolute. i.e. the feature is the interest point/region's z-coordinate.
 Position (float ref_z)
 Instantiates the position descriptor such that the z coordinate is relative to the given height. i.e. the feature is the interest point/region's z-coordinate minus ref_z.

Protected Member Functions

virtual void doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts, std::vector< std::vector< float > > &results)
 Extract the z-coordinate of the interest points.
virtual void doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices, std::vector< std::vector< float > > &results)
 Extract the z-coordinate of the interest regions' centroids.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
 This descriptor requires no pre-computation, so this method has no affect.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
 This descriptor requires no pre-computation, so this method has no affect.

Private Attributes

float ref_z_

Detailed Description

A Position descriptor defines a feature from the z-coordinate of the interest point or the interest region's centroid.

TODO: use map information such as distance from walls

Definition at line 65 of file position.h.


Constructor & Destructor Documentation

Instantiates the position descriptor such that the z-coordinate is absolute. i.e. the feature is the interest point/region's z-coordinate.

Definition at line 42 of file position.cpp.

Position::Position ( float  ref_z)

Instantiates the position descriptor such that the z coordinate is relative to the given height. i.e. the feature is the interest point/region's z-coordinate minus ref_z.

Parameters:
ref_zThe reference z (elevation) coordinate.

Definition at line 70 of file position.cpp.


Member Function Documentation

void Position::clearShared ( ) [virtual]

This descriptor uses no shared precomputation, so this method has no affect.

Implements Descriptor3D.

Definition at line 53 of file position.cpp.

void Position::doComputation ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const geometry_msgs::Point32 * > &  interest_pts,
std::vector< std::vector< float > > &  results 
) [protected, virtual]

Extract the z-coordinate of the interest points.

See also:
Descriptor3D::compute

Implements Descriptor3D.

Definition at line 101 of file position.cpp.

virtual void Position::doComputation ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const std::vector< int > * > &  interest_region_indices,
std::vector< std::vector< float > > &  results 
) [protected, virtual]

Extract the z-coordinate of the interest regions' centroids.

See also:
Descriptor3D::compute

Implements Descriptor3D.

std::string Position::getName ( void  ) const [virtual]

Returns a name that is unique for any given setting of the parameters.

Implements Descriptor3D.

Definition at line 60 of file position.cpp.

int Position::precompute ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const geometry_msgs::Point32 * > &  interest_pts 
) [protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:
0 always

Implements Descriptor3D.

Definition at line 81 of file position.cpp.

int Position::precompute ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const std::vector< int > * > &  interest_region_indices 
) [protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:
0 always

Implements Descriptor3D.

Definition at line 91 of file position.cpp.


Member Data Documentation

float Position::ref_z_ [private]

Definition at line 154 of file position.h.


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


ias_descriptors_3d
Author(s): Daniel Munoz/ dmunoz@willowgarage.com, Dejan Pangercic (patched version)
autogenerated on Mon Oct 6 2014 08:48:26