#include <MultiJointTrackerNode.h>

Inheritance diagram for omip::MultiJointTrackerNode:

Public Member Functions
virtual void	measurementCallback (const boost::shared_ptr< ks_measurement_ros_t const > &poses_and_vels)
	Callback for the measurements for this RE level (Poses and vels of the tracker RB from the lower level, RBT)
	MultiJointTrackerNode ()
virtual bool	publishURDF (joint_tracker::publish_urdf::Request &request, joint_tracker::publish_urdf::Response &response)
void	ReadBag ()
void	ReadParameters ()
virtual void	statePredictionCallback (const boost::shared_ptr< ks_state_ros_t const > &predicted_next_state)
	Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy.
virtual	~MultiJointTrackerNode ()
Protected Member Functions
virtual void	_generateURDF (std_msgs::String &urdf_string_msg, sensor_msgs::JointState &joint_state_msg) const
virtual void	_PrintResults () const
	Print the results of the joint tracker on the terminal.
virtual void	_publishPredictedMeasurement () const
	Publish the prediction about the next measurement by this RE level.
virtual void	_publishState () const
	Publish the current state of this RE level.
Protected Attributes
double	_loop_period_ns
int	_min_joint_age_for_ee
int	_processing_factor
double	_sensor_fps
std::string	_sr_path
ros::Publisher	_state_publisher_joint_states
ros::Publisher	_state_publisher_rviz_markers
ros::Publisher	_state_publisher_urdf
ros::ServiceServer	_urdf_pub_service

Detailed Description

Definition at line 70 of file MultiJointTrackerNode.h.

Constructor & Destructor Documentation

MultiJointTrackerNode::MultiJointTrackerNode ( )

Constructor

Definition at line 36 of file MultiJointTrackerNode.cpp.

MultiJointTrackerNode::~MultiJointTrackerNode ( ) [virtual]

Destructor

Definition at line 65 of file MultiJointTrackerNode.cpp.

Member Function Documentation

void MultiJointTrackerNode::_generateURDF	(	std_msgs::String &	urdf_string_msg,
		sensor_msgs::JointState &	joint_state_msg
	)		const `[protected, virtual]`

Definition at line 312 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_PrintResults ( ) const [protected, virtual]

Print the results of the joint tracker on the terminal.

Definition at line 664 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_publishPredictedMeasurement ( ) const [protected, virtual]

Publish the prediction about the next measurement by this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >.

Definition at line 656 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::_publishState ( ) const [protected, virtual]

Publish the current state of this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ks_measurement_ros_t, ks_state_ros_t, MultiJointTracker >.

Definition at line 521 of file MultiJointTrackerNode.cpp.

void MultiJointTrackerNode::measurementCallback ( const boost::shared_ptr< ks_measurement_ros_t const > & poses_and_vels ) [virtual]

Callback for the measurements for this RE level (Poses and vels of the tracker RB from the lower level, RBT)

Parameters:

poses_and_vels Input tracked RB poses and vels

Definition at line 192 of file MultiJointTrackerNode.cpp.

bool MultiJointTrackerNode::publishURDF	(	joint_tracker::publish_urdf::Request &	request,
		joint_tracker::publish_urdf::Response &	response
	)		`[virtual]`

Definition at line 279 of file MultiJointTrackerNode.cpp.

void omip::MultiJointTrackerNode::ReadBag ( ) [inline]

Version to work offline. Not implemented

Definition at line 107 of file MultiJointTrackerNode.h.

void MultiJointTrackerNode::ReadParameters ( )

Read parameters to create the JointTracker

Definition at line 69 of file MultiJointTrackerNode.cpp.

virtual void omip::MultiJointTrackerNode::statePredictionCallback ( const boost::shared_ptr< ks_state_ros_t const > & predicted_next_state ) [inline, virtual]

Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy.

Parameters:

predicted_next_state Predictions about the next state. Right now there is no higher lever (unused)

Definition at line 102 of file MultiJointTrackerNode.h.