#include <tracking.hpp>

Inheritance diagram for yocs::ARPairTracking:

Public Member Functions
void	addPair (const yocs_msgs::ARPair &p)

	ARPairTracking ()

bool	init ()

virtual	~ARPairTracking ()

Public Member Functions inherited from yocs::ARMarkerTracking
	ARMarkerTracking ()

bool	init ()

void	spin ()

virtual	~ARMarkerTracking ()

Protected Member Functions
void	computeRelativeRobotPose (const yocs_msgs::ARPair &spotted_pair, const std::vector< TrackedMarker > &tracked_markers, const ar_track_alvar_msgs::AlvarMarker &left, const ar_track_alvar_msgs::AlvarMarker &right)

void	customCB (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const std::vector< TrackedMarker > &tracked_markers)

bool	spotMarkerPair (const ar_track_alvar_msgs::AlvarMarkers &spotted_markers, const yocs_msgs::ARPair &pair, ar_track_alvar_msgs::AlvarMarker &left, ar_track_alvar_msgs::AlvarMarker &right)

void	updateARPairsCB (const yocs_msgs::ARPairList::ConstPtr &msg)

Protected Member Functions inherited from yocs::ARMarkerTracking
void	arPoseMarkersCB (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg)

bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarker &closest_marker)

bool	closest (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)

bool	closest (const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarker &closest_marker)

bool	excluded (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v)

bool	included (const uint32_t id, const ar_track_alvar_msgs::AlvarMarkers &v, ar_track_alvar_msgs::AlvarMarker *e=NULL)

void	maintainTrackedMarker (TrackedMarker &marker, const ar_track_alvar_msgs::AlvarMarker &msgMarker, const int obs_list_max_size, const double max_valid_d_inc, const double max_valid_h_inc)

void	maintainTrackedMarkers (const ar_track_alvar_msgs::AlvarMarkers::ConstPtr &msg, std::vector< TrackedMarker > &tracked_markers)

bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)

bool	spotted (double younger_than, double min_confidence, ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted)

bool	spotted (double younger_than, const ar_track_alvar_msgs::AlvarMarkers &including, const ar_track_alvar_msgs::AlvarMarkers &excluding, ar_track_alvar_msgs::AlvarMarkers &spotted_markers)

Private Attributes
std::vector< yocs_msgs::ARPair >	ar_pairs_

std::string	base_frame_

std::string	global_frame_

std::string	marker_frame_

ros::Publisher	pub_initial_pose_

ros::Publisher	pub_relative_target_pose_

ros::Publisher	pub_spotted_markers_

bool	publish_transforms

ros::Subscriber	sub_update_ar_pairs_

std::string	target_pose_frame_

tf::TransformBroadcaster	tf_brcaster_

tf::Transformer	tf_internal_

tf::TransformListener	tf_listener_

Additional Inherited Members
Protected Attributes inherited from yocs::ARMarkerTracking
double	ar_tracker_freq_

double	max_reliable_dist_

double	max_reliable_head_

double	max_tracking_time_

double	max_valid_d_inc_

double	max_valid_h_inc_

double	min_penalized_dist_

double	min_penalized_head_

ar_track_alvar_msgs::AlvarMarkers	spotted_markers_

ros::Subscriber	sub_ar_markers_

std::vector< TrackedMarker >	tracked_markers_

Detailed Description

Definition at line 60 of file tracking.hpp.

Constructor & Destructor Documentation

yocs::ARPairTracking::ARPairTracking ( )

Definition at line 11 of file tracking.cpp.

yocs::ARPairTracking::~ARPairTracking ( )

virtual

Definition at line 16 of file tracking.cpp.

Member Function Documentation

void yocs::ARPairTracking::addPair ( const yocs_msgs::ARPair & p )

Definition at line 38 of file tracking.cpp.

void yocs::ARPairTracking::computeRelativeRobotPose	(	const yocs_msgs::ARPair &	spotted_pair,
		const std::vector< TrackedMarker > &	tracked_markers,
		const ar_track_alvar_msgs::AlvarMarker &	left,
		const ar_track_alvar_msgs::AlvarMarker &	right
	)

protected

Definition at line 96 of file tracking.cpp.

void yocs::ARPairTracking::customCB	(	const ar_track_alvar_msgs::AlvarMarkers &	spotted_markers,
		const std::vector< TrackedMarker > &	tracked_markers
	)

protectedvirtual

Reimplemented from yocs::ARMarkerTracking.

Definition at line 56 of file tracking.cpp.

bool yocs::ARPairTracking::init ( )

Definition at line 18 of file tracking.cpp.

bool yocs::ARPairTracking::spotMarkerPair	(	const ar_track_alvar_msgs::AlvarMarkers &	spotted_markers,
		const yocs_msgs::ARPair &	pair,
		ar_track_alvar_msgs::AlvarMarker &	left,
		ar_track_alvar_msgs::AlvarMarker &	right
	)

protected

Definition at line 75 of file tracking.cpp.

void yocs::ARPairTracking::updateARPairsCB ( const yocs_msgs::ARPairList::ConstPtr & msg )

protected

Definition at line 43 of file tracking.cpp.

Member Data Documentation

std::vector<yocs_msgs::ARPair> yocs::ARPairTracking::ar_pairs_

private

Definition at line 89 of file tracking.hpp.

std::string yocs::ARPairTracking::base_frame_

private

Definition at line 94 of file tracking.hpp.

std::string yocs::ARPairTracking::global_frame_

private

Definition at line 92 of file tracking.hpp.

std::string yocs::ARPairTracking::marker_frame_

private

Definition at line 93 of file tracking.hpp.

ros::Publisher yocs::ARPairTracking::pub_initial_pose_

private

Definition at line 81 of file tracking.hpp.

ros::Publisher yocs::ARPairTracking::pub_relative_target_pose_

private

Definition at line 81 of file tracking.hpp.

ros::Publisher yocs::ARPairTracking::pub_spotted_markers_

private

Definition at line 81 of file tracking.hpp.

bool yocs::ARPairTracking::publish_transforms

private

Definition at line 90 of file tracking.hpp.

ros::Subscriber yocs::ARPairTracking::sub_update_ar_pairs_

private

Definition at line 82 of file tracking.hpp.

std::string yocs::ARPairTracking::target_pose_frame_

private

Definition at line 95 of file tracking.hpp.

tf::TransformBroadcaster yocs::ARPairTracking::tf_brcaster_

private

Definition at line 86 of file tracking.hpp.

tf::Transformer yocs::ARPairTracking::tf_internal_

private

Definition at line 84 of file tracking.hpp.

tf::TransformListener yocs::ARPairTracking::tf_listener_

private

Definition at line 85 of file tracking.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation