visual-tracking-control
Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
PlayGatePose Class Reference

#include <PlayGatePose.h>

Inheritance diagram for PlayGatePose:
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Public Member Functions

 PlayGatePose (std::unique_ptr< PFVisualCorrection > visual_correction, const double gate_x, const double gate_y, const double gate_z, const double gate_aperture, const double gate_rotation, const yarp::os::ConstString &robot, const yarp::os::ConstString &laterality, const yarp::os::ConstString &port_prefix) noexcept
 
 PlayGatePose (std::unique_ptr< PFVisualCorrection > visual_correction, const yarp::os::ConstString &robot, const yarp::os::ConstString &laterality, const yarp::os::ConstString &port_prefix) noexcept
 
 ~PlayGatePose () noexcept override
 
void innovation (const Eigen::Ref< const Eigen::MatrixXf > &pred_states, cv::InputArray measurements, Eigen::Ref< Eigen::MatrixXf > innovations) override
 
double likelihood (const Eigen::Ref< const Eigen::MatrixXf > &innovations) override
 
bfl::VisualObservationModel & getVisualObservationModel () override
 
void setVisualObservationModel (std::unique_ptr< bfl::VisualObservationModel > visual_observation_model) override
 

Protected Member Functions

Eigen::VectorXd readPose () override
 
yarp::sig::Vector readRootToEE ()
 
yarp::sig::Vector readTorso ()
 
void correctStep (const Eigen::Ref< const Eigen::MatrixXf > &pred_states, const Eigen::Ref< const Eigen::VectorXf > &pred_weights, cv::InputArray measurements, Eigen::Ref< Eigen::MatrixXf > cor_states, Eigen::Ref< Eigen::VectorXf > cor_weights) override
 
bool isInsideEllipsoid (const Eigen::Ref< const Eigen::VectorXf > &state)
 
bool isWithinRotation (float rot_angle)
 
bool isInsideCone (const Eigen::Ref< const Eigen::VectorXf > &state)
 

Protected Attributes

yarp::os::BufferedPort< yarp::os::Bottle > port_torso_enc_
 
yarp::os::BufferedPort< yarp::os::Bottle > port_arm_enc_
 
iCub::iKin::iCubArm icub_kin_arm_
 

Private Attributes

const yarp::os::ConstString ID_ = "PlayGatePose"
 
const yarp::os::ConstString log_ID_ = "[" + ID_ + "]"
 
yarp::os::ConstString robot_
 
yarp::os::ConstString laterality_
 
yarp::os::ConstString port_prefix_
 

Detailed Description

Definition at line 12 of file PlayGatePose.h.

Constructor & Destructor Documentation

◆ PlayGatePose() [1/2]

PlayGatePose::PlayGatePose ( std::unique_ptr< PFVisualCorrection >  visual_correction,
const double  gate_x,
const double  gate_y,
const double  gate_z,
const double  gate_aperture,
const double  gate_rotation,
const yarp::os::ConstString &  robot,
const yarp::os::ConstString &  laterality,
const yarp::os::ConstString &  port_prefix 
)
noexcept

Definition at line 19 of file PlayGatePose.cpp.

◆ PlayGatePose() [2/2]

PlayGatePose::PlayGatePose ( std::unique_ptr< PFVisualCorrection >  visual_correction,
const yarp::os::ConstString &  robot,
const yarp::os::ConstString &  laterality,
const yarp::os::ConstString &  port_prefix 
)
noexcept

Definition at line 44 of file PlayGatePose.cpp.

◆ ~PlayGatePose()

PlayGatePose::~PlayGatePose ( )
overridenoexcept

Definition at line 49 of file PlayGatePose.cpp.

Member Function Documentation

◆ correctStep()

void GatePose::correctStep ( const Eigen::Ref< const Eigen::MatrixXf > &  pred_states,
const Eigen::Ref< const Eigen::VectorXf > &  pred_weights,
cv::InputArray  measurements,
Eigen::Ref< Eigen::MatrixXf >  cor_states,
Eigen::Ref< Eigen::VectorXf >  cor_weights 
)
overrideprotectedinherited

Definition at line 54 of file GatePose.cpp.

◆ getVisualObservationModel()

VisualObservationModel & GatePose::getVisualObservationModel ( )
overrideinherited

Definition at line 42 of file GatePose.cpp.

◆ innovation()

void GatePose::innovation ( const Eigen::Ref< const Eigen::MatrixXf > &  pred_states,
cv::InputArray  measurements,
Eigen::Ref< Eigen::MatrixXf >  innovations 
)
overrideinherited

Definition at line 30 of file GatePose.cpp.

◆ isInsideCone()

bool GatePose::isInsideCone ( const Eigen::Ref< const Eigen::VectorXf > &  state)
protectedinherited

Definition at line 88 of file GatePose.cpp.

◆ isInsideEllipsoid()

bool GatePose::isInsideEllipsoid ( const Eigen::Ref< const Eigen::VectorXf > &  state)
protectedinherited

Definition at line 72 of file GatePose.cpp.

◆ isWithinRotation()

bool GatePose::isWithinRotation ( float  rot_angle)
protectedinherited

Definition at line 80 of file GatePose.cpp.

◆ likelihood()

double GatePose::likelihood ( const Eigen::Ref< const Eigen::MatrixXf > &  innovations)
overrideinherited

Definition at line 36 of file GatePose.cpp.

◆ readPose()

VectorXd PlayGatePose::readPose ( )
overrideprotectedvirtual

Implements GatePose.

Definition at line 82 of file PlayGatePose.cpp.

◆ readRootToEE()

Vector PlayGatePose::readRootToEE ( )
protected

Definition at line 66 of file PlayGatePose.cpp.

◆ readTorso()

Vector PlayGatePose::readTorso ( )
protected

Definition at line 52 of file PlayGatePose.cpp.

◆ setVisualObservationModel()

void GatePose::setVisualObservationModel ( std::unique_ptr< bfl::VisualObservationModel >  visual_observation_model)
overrideinherited

Definition at line 48 of file GatePose.cpp.

Member Data Documentation

◆ icub_kin_arm_

iCub::iKin::iCubArm PlayGatePose::icub_kin_arm_
protected

Definition at line 31 of file PlayGatePose.h.

◆ ID_

const yarp::os::ConstString PlayGatePose::ID_ = "PlayGatePose"
private

Definition at line 40 of file PlayGatePose.h.

◆ laterality_

yarp::os::ConstString PlayGatePose::laterality_
private

Definition at line 44 of file PlayGatePose.h.

◆ log_ID_

const yarp::os::ConstString PlayGatePose::log_ID_ = "[" + ID_ + "]"
private

Definition at line 41 of file PlayGatePose.h.

◆ port_arm_enc_

yarp::os::BufferedPort<yarp::os::Bottle> PlayGatePose::port_arm_enc_
protected

Definition at line 30 of file PlayGatePose.h.

Referenced by VisualProprioception::~VisualProprioception().

◆ port_prefix_

yarp::os::ConstString PlayGatePose::port_prefix_
private

Definition at line 45 of file PlayGatePose.h.

◆ port_torso_enc_

yarp::os::BufferedPort<yarp::os::Bottle> PlayGatePose::port_torso_enc_
protected

Definition at line 29 of file PlayGatePose.h.

Referenced by VisualProprioception::~VisualProprioception().

◆ robot_

yarp::os::ConstString PlayGatePose::robot_
private

Definition at line 43 of file PlayGatePose.h.

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