ConstraintApp_MB Class Reference

#include <ConstraintApp_MB.h>

Inheritance diagram for ConstraintApp_MB:

List of all members.

Public Types
typedef Affordance::StateVector	StateVector
typedef std::vector< double >	ObservationVector
typedef std::vector< std::string >	IdVector
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor >	Jacobian
Public Member Functions
	ConstraintApp_MB ()
virtual	~ConstraintApp_MB ()
virtual bool	WaitForObservations (unsigned int timeout_ms)
virtual bool	GetObservations (ObservationVector &actualObservations, IdVector &observationIds)
virtual bool	GetExpectedObservations (const StateVector &state, const IdVector &observationIds, ObservationVector &observations)
virtual bool	GetResetAndClear ()
virtual void	GetCurrentStateEstimate (StateVector &state)
virtual void	SetCurrentStateEstimate (const StateVector &state)
virtual void	AffordanceTrackCollectionHandler (const drc::affordance_track_collection_t *msg)
virtual void	AffordanceFitHandler (const drc::affordance_plus_t *msg)
virtual int	GetStateSize ()
bool	GetJacobian (const StateVector &state, const IdVector &observationIds, Jacobian &jacobian, int method)
void	PublishFitMessage ()
Protected Types
typedef PointObservation	Observation
typedef std::map< std::string, Observation >	ObservationMap
Protected Attributes
boost::mutex	m_dataMutex
boost::condition_variable	m_dataCondition
Affordance::Ptr	m_affordance
int	m_affordanceUID
bool	m_wasReset
drc::affordance_plus_t	m_prevFit
StateVector	m_currentState
boost::shared_ptr< FastFKSolver >	m_fastFKSolver
ObservationMap	m_currentObservations

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Detailed Description

Definition at line 21 of file ConstraintApp_MB.h.

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Member Typedef Documentation

typedef std::vector<std::string> ConstraintApp_MB::IdVector

Definition at line 26 of file ConstraintApp_MB.h.

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> ConstraintApp_MB::Jacobian

Definition at line 27 of file ConstraintApp_MB.h.

typedef PointObservation ConstraintApp_MB::Observation [protected]

Definition at line 62 of file ConstraintApp_MB.h.

typedef std::map<std::string, Observation> ConstraintApp_MB::ObservationMap [protected]

Definition at line 63 of file ConstraintApp_MB.h.

typedef std::vector<double> ConstraintApp_MB::ObservationVector

Definition at line 25 of file ConstraintApp_MB.h.

typedef Affordance::StateVector ConstraintApp_MB::StateVector

Definition at line 24 of file ConstraintApp_MB.h.

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Constructor & Destructor Documentation

ConstraintApp_MB::ConstraintApp_MB

(

)

Definition at line 5 of file ConstraintApp_MB.cpp.

ConstraintApp_MB::~ConstraintApp_MB

(

)

[virtual]

Definition at line 10 of file ConstraintApp_MB.cpp.

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Member Function Documentation

void ConstraintApp_MB::AffordanceFitHandler

(

const drc::affordance_plus_t *

msg

)

[virtual]

Implements ConstraintApp.

Definition at line 67 of file ConstraintApp_MB.cpp.

void ConstraintApp_MB::AffordanceTrackCollectionHandler

(

const drc::affordance_track_collection_t *

msg

)

[virtual]

Implements ConstraintApp.

Definition at line 15 of file ConstraintApp_MB.cpp.

void ConstraintApp_MB::GetCurrentStateEstimate

(

StateVector &

state

)

[virtual]

Implements ConstraintApp.

Definition at line 95 of file ConstraintApp_MB.cpp.

bool ConstraintApp_MB::GetExpectedObservations	(	const StateVector &	state,
		const IdVector &	observationIds,
		ObservationVector &	observations
	)		[virtual]

Implements ConstraintApp.

Definition at line 194 of file ConstraintApp_MB.cpp.

bool ConstraintApp_MB::GetJacobian	(	const StateVector &	state,
		const IdVector &	observationIds,
		ConstraintApp_MB::Jacobian &	jacobian,
		int	method
	)

Definition at line 284 of file ConstraintApp_MB.cpp.

bool ConstraintApp_MB::GetObservations	(	ObservationVector &	actualObservations,
		IdVector &	observationIds
	)		[virtual]

Implements ConstraintApp.

Definition at line 123 of file ConstraintApp_MB.cpp.

bool ConstraintApp_MB::GetResetAndClear

(

)

[virtual]

Implements ConstraintApp.

Definition at line 87 of file ConstraintApp_MB.cpp.

int ConstraintApp_MB::GetStateSize

(

)

[virtual]

Implements ConstraintApp.

Definition at line 253 of file ConstraintApp_MB.cpp.

void ConstraintApp_MB::PublishFitMessage

(

)

Definition at line 258 of file ConstraintApp_MB.cpp.

void ConstraintApp_MB::SetCurrentStateEstimate

(

const StateVector &

state

)

[virtual]

Implements ConstraintApp.

Definition at line 101 of file ConstraintApp_MB.cpp.

bool ConstraintApp_MB::WaitForObservations

(

unsigned int

timeout_ms

)

[virtual]

Implements ConstraintApp.

Definition at line 109 of file ConstraintApp_MB.cpp.

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Member Data Documentation

Affordance::Ptr ConstraintApp_MB::m_affordance [protected]

Definition at line 53 of file ConstraintApp_MB.h.

int ConstraintApp_MB::m_affordanceUID [protected]

Definition at line 54 of file ConstraintApp_MB.h.

ObservationMap ConstraintApp_MB::m_currentObservations [protected]

Definition at line 64 of file ConstraintApp_MB.h.

StateVector ConstraintApp_MB::m_currentState [protected]

Definition at line 58 of file ConstraintApp_MB.h.

boost::condition_variable ConstraintApp_MB::m_dataCondition [protected]

Definition at line 51 of file ConstraintApp_MB.h.

boost::mutex ConstraintApp_MB::m_dataMutex [protected]

Definition at line 50 of file ConstraintApp_MB.h.

boost::shared_ptr<FastFKSolver> ConstraintApp_MB::m_fastFKSolver [protected]

Definition at line 60 of file ConstraintApp_MB.h.

drc::affordance_plus_t ConstraintApp_MB::m_prevFit [protected]

Definition at line 56 of file ConstraintApp_MB.h.

bool ConstraintApp_MB::m_wasReset [protected]

Definition at line 55 of file ConstraintApp_MB.h.

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

• /home/jbrooksh/drc/software/perception/constraint_app/src/matlab_mex/ConstraintApp_MB.h
• /home/jbrooksh/drc/software/perception/constraint_app/src/matlab_mex/ConstraintApp_MB.cpp