#include <iCubGatePose.h>

Inheritance diagram for iCubGatePose:

Public Member Functions
	iCubGatePose (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)

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

	~iCubGatePose () 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::dev::PolyDriver	drv_arm_enc_

yarp::dev::IEncoders *	itf_arm_enc_

yarp::dev::PolyDriver	drv_torso_enc_

yarp::dev::IEncoders *	itf_torso_enc_

iCub::iKin::iCubArm	icub_kin_arm_

Private Attributes
const yarp::os::ConstString	ID_ = "iCubGatePose"

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 13 of file iCubGatePose.h.

Constructor & Destructor Documentation

◆ iCubGatePose() [1/2]

iCubGatePose::iCubGatePose	(	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
	)

Definition at line 19 of file iCubGatePose.cpp.

References drv_arm_enc_, drv_torso_enc_, icub_kin_arm_, ID_, itf_arm_enc_, itf_torso_enc_, laterality_, log_ID_, and robot_.

◆ iCubGatePose() [2/2]

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

Definition at line 102 of file iCubGatePose.cpp.

◆ ~iCubGatePose()

iCubGatePose::~iCubGatePose ( )

overridenoexcept

Definition at line 107 of file iCubGatePose.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 iCubGatePose::readPose ( )

overrideprotectedvirtual

Implements GatePose.

Definition at line 143 of file iCubGatePose.cpp.

References icub_kin_arm_, and readRootToEE().

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◆ readRootToEE()

Vector iCubGatePose::readRootToEE ( )

protected

Definition at line 124 of file iCubGatePose.cpp.

References itf_arm_enc_, and readTorso().

Referenced by readPose().

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◆ readTorso()

Vector iCubGatePose::readTorso ( )

protected

Definition at line 110 of file iCubGatePose.cpp.

References itf_torso_enc_.

Referenced by readRootToEE().

◆ setVisualObservationModel()

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

overrideinherited

Definition at line 48 of file GatePose.cpp.

Member Data Documentation

◆ drv_arm_enc_

yarp::dev::PolyDriver iCubGatePose::drv_arm_enc_

protected

Definition at line 28 of file iCubGatePose.h.

Referenced by iCubGatePose().

◆ drv_torso_enc_

yarp::dev::PolyDriver iCubGatePose::drv_torso_enc_

protected

Definition at line 30 of file iCubGatePose.h.

Referenced by iCubGatePose().

◆ icub_kin_arm_

iCub::iKin::iCubArm iCubGatePose::icub_kin_arm_

protected

Definition at line 33 of file iCubGatePose.h.

Referenced by iCubGatePose(), and readPose().

◆ ID_

const yarp::os::ConstString iCubGatePose::ID_ = "iCubGatePose"

private

Definition at line 42 of file iCubGatePose.h.

Referenced by iCubGatePose().

◆ itf_arm_enc_

yarp::dev::IEncoders* iCubGatePose::itf_arm_enc_

protected

Definition at line 29 of file iCubGatePose.h.

Referenced by iCubGatePose(), and readRootToEE().

◆ itf_torso_enc_

yarp::dev::IEncoders* iCubGatePose::itf_torso_enc_

protected

Definition at line 31 of file iCubGatePose.h.

Referenced by iCubGatePose(), and readTorso().

◆ laterality_

yarp::os::ConstString iCubGatePose::laterality_

private

Definition at line 46 of file iCubGatePose.h.

Referenced by iCubGatePose().

◆ log_ID_

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

private

Definition at line 43 of file iCubGatePose.h.

Referenced by iCubGatePose().

◆ port_prefix_

yarp::os::ConstString iCubGatePose::port_prefix_

private

Definition at line 47 of file iCubGatePose.h.

◆ robot_

yarp::os::ConstString iCubGatePose::robot_

private

Definition at line 45 of file iCubGatePose.h.

Referenced by iCubGatePose().

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

/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/include/iCubGatePose.h
/Users/Claudio/GitHub/visual-tracking-control/src/hand-tracking/src/iCubGatePose.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ iCubGatePose() [1/2]

◆ iCubGatePose() [2/2]

◆ ~iCubGatePose()

Member Function Documentation

◆ correctStep()

◆ getVisualObservationModel()

◆ innovation()

◆ isInsideCone()

◆ isInsideEllipsoid()

◆ isWithinRotation()

◆ likelihood()

◆ readPose()

◆ readRootToEE()

◆ readTorso()

◆ setVisualObservationModel()

Member Data Documentation

◆ drv_arm_enc_

◆ drv_torso_enc_

◆ icub_kin_arm_

◆ ID_

◆ itf_arm_enc_

◆ itf_torso_enc_

◆ laterality_

◆ log_ID_

◆ port_prefix_

◆ robot_