#include <DisconnectedJointFilter.h>
Public Member Functions | |
| DisconnectedJointFilterPtr | clone () const |
| DisconnectedJointFilter () | |
| DisconnectedJointFilter (const DisconnectedJointFilter &rigid_joint) | |
| virtual JointFilterType | getJointFilterType () const |
| virtual std::string | getJointFilterTypeStr () const |
| virtual std::vector < visualization_msgs::Marker > | getJointMarkersInRRBFrame () const |
| virtual geometry_msgs::TwistWithCovariance | getPredictedSRBDeltaPoseWithCovInSensorFrame () |
| Generate a prediction about the change in pose of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) | |
| virtual geometry_msgs::TwistWithCovariance | getPredictedSRBPoseWithCovInSensorFrame () |
| Generate a prediction about the pose-twist of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) | |
| virtual geometry_msgs::TwistWithCovariance | getPredictedSRBVelocityWithCovInSensorFrame () |
| Generate a prediction about the velocity of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) | |
| virtual double | getProbabilityOfJointFilter () const |
| Return the normalized joint filter probability of the Disconnected Joint model, which is a constant value we set at the beginning and use as quality threshold for the other models. | |
| virtual void | initialize () |
| virtual | ~DisconnectedJointFilter () |
Protected Member Functions | |
| virtual DisconnectedJointFilter * | doClone () const |
Detailed Description
Definition at line 43 of file DisconnectedJointFilter.h.
Constructor & Destructor Documentation
Constructor
Definition at line 7 of file DisconnectedJointFilter.cpp.
| DisconnectedJointFilter::~DisconnectedJointFilter | ( | ) | [virtual] |
Destructor
Definition at line 13 of file DisconnectedJointFilter.cpp.
| DisconnectedJointFilter::DisconnectedJointFilter | ( | const DisconnectedJointFilter & | rigid_joint | ) |
Copy constructor
Definition at line 18 of file DisconnectedJointFilter.cpp.
Member Function Documentation
| DisconnectedJointFilterPtr omip::DisconnectedJointFilter::clone | ( | ) | const [inline] |
Creates a new Joint object with the same values as this one and passes its reference
- Returns:
- - A reference to the clone of this Feature object
Reimplemented from omip::JointFilter.
Definition at line 63 of file DisconnectedJointFilter.h.
| virtual DisconnectedJointFilter* omip::DisconnectedJointFilter::doClone | ( | ) | const [inline, protected, virtual] |
A Disconnected Joint does not constrain any of the 6 dofs of the relative motion between RBs Disconnected Joints have no motion parameters Disconnected Joints have no latent variables
Implements omip::JointFilter.
Definition at line 133 of file DisconnectedJointFilter.h.
| JointFilterType DisconnectedJointFilter::getJointFilterType | ( | ) | const [virtual] |
Return the joint type as one of the possible JointFilterTypes
Implements omip::JointFilter.
Definition at line 203 of file DisconnectedJointFilter.cpp.
| std::string DisconnectedJointFilter::getJointFilterTypeStr | ( | ) | const [virtual] |
Return the joint type as an string
Implements omip::JointFilter.
Definition at line 208 of file DisconnectedJointFilter.cpp.
| std::vector< visualization_msgs::Marker > DisconnectedJointFilter::getJointMarkersInRRBFrame | ( | ) | const [virtual] |
Return rviz markers that show the type and parameters of the estimated joint
Implements omip::JointFilter.
Definition at line 167 of file DisconnectedJointFilter.cpp.
| geometry_msgs::TwistWithCovariance DisconnectedJointFilter::getPredictedSRBDeltaPoseWithCovInSensorFrame | ( | ) | [virtual] |
Generate a prediction about the change in pose of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)
- Returns:
- geometry_msgs::TwistWithCovariance Change in pose of the second rigid body in form of a twist with covariance based on the model uncertainty
Implements omip::JointFilter.
Definition at line 33 of file DisconnectedJointFilter.cpp.
| geometry_msgs::TwistWithCovariance DisconnectedJointFilter::getPredictedSRBPoseWithCovInSensorFrame | ( | ) | [virtual] |
Generate a prediction about the pose-twist of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)
Implements omip::JointFilter.
Definition at line 103 of file DisconnectedJointFilter.cpp.
| geometry_msgs::TwistWithCovariance DisconnectedJointFilter::getPredictedSRBVelocityWithCovInSensorFrame | ( | ) | [virtual] |
Generate a prediction about the velocity of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)
- Returns:
- geometry_msgs::TwistWithCovariance Velocity of the second rigid body in form of a twist with covariance based on the model uncertainty
Implements omip::JointFilter.
Definition at line 68 of file DisconnectedJointFilter.cpp.
| double DisconnectedJointFilter::getProbabilityOfJointFilter | ( | ) | const [virtual] |
Return the normalized joint filter probability of the Disconnected Joint model, which is a constant value we set at the beginning and use as quality threshold for the other models.
- Returns:
- double Normalized probability of this joint filter
Reimplemented from omip::JointFilter.
Definition at line 28 of file DisconnectedJointFilter.cpp.
| void DisconnectedJointFilter::initialize | ( | ) | [virtual] |
Reimplemented from omip::JointFilter.
Definition at line 23 of file DisconnectedJointFilter.cpp.
The documentation for this class was generated from the following files: