fastrack::environment::BallsInBoxOccupancyMap Class Reference

#include <balls_in_box_occupancy_map.h>

Inheritance diagram for fastrack::environment::BallsInBoxOccupancyMap:

Public Member Functions
	BallsInBoxOccupancyMap ()
double	OccupancyProbability (const Vector3d &p, double time=std::numeric_limits< double >::quiet_NaN()) const
double	OccupancyProbability (const Vector3d &p, const TrackingBound &bound, double time=std::numeric_limits< double >::quiet_NaN()) const
fastrack_msgs::SensedSpheres	SimulateSensor (const SphereSensorParams &params) const
void	Visualize () const
	~BallsInBoxOccupancyMap ()
Public Member Functions inherited from fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >
bool	IsValid (const Vector3d &position, const TrackingBound &bound, double time=std::numeric_limits< double >::quiet_NaN()) const
virtual	~OccupancyMap ()
Public Member Functions inherited from fastrack::environment::Environment< fastrack_msgs::SensedSpheres, SphereSensorParams >
bool	AreValid (const std::vector< Vector3d > &positions, const TrackingBound &bound, double time=std::numeric_limits< double >::quiet_NaN()) const
bool	Initialize (const ros::NodeHandle &n)
virtual	~Environment ()

Private Member Functions
bool	LoadParameters (const ros::NodeHandle &n)
void	SensorCallback (const typename fastrack_msgs::SensedSpheres::ConstPtr &msg)

Private Attributes
double	largest_obstacle_radius_
double	largest_sensor_radius_
KdtreeMap< 3, double >	obstacles_
KdtreeMap< 3, double >	sensor_fovs_

Static Private Attributes
static constexpr double	kFreeProbability = 0.0
static constexpr double	kOccupiedProbability = 1.0
static constexpr double	kUnknownProbability = 0.5

Additional Inherited Members
Protected Member Functions inherited from fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >
	OccupancyMap ()
Protected Member Functions inherited from fastrack::environment::Environment< fastrack_msgs::SensedSpheres, SphereSensorParams >
	Environment ()
virtual bool	RegisterCallbacks (const ros::NodeHandle &n)
Protected Attributes inherited from fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >
double	free_space_threshold_
Protected Attributes inherited from fastrack::environment::Environment< fastrack_msgs::SensedSpheres, SphereSensorParams >
std::string	fixed_frame_
bool	initialized_
Vector3d	lower_
std::string	name_
ros::Subscriber	sensor_sub_
std::string	sensor_topic_
ros::Publisher	updated_pub_
std::string	updated_topic_
Vector3d	upper_
ros::Publisher	vis_pub_
std::string	vis_topic_

Detailed Description

Definition at line 60 of file balls_in_box_occupancy_map.h.

Constructor & Destructor Documentation

fastrack::environment::BallsInBoxOccupancyMap::~BallsInBoxOccupancyMap ( )

inline

Definition at line 63 of file balls_in_box_occupancy_map.h.

fastrack::environment::BallsInBoxOccupancyMap::BallsInBoxOccupancyMap ( )

inlineexplicit

Definition at line 64 of file balls_in_box_occupancy_map.h.

Member Function Documentation

bool fastrack::environment::BallsInBoxOccupancyMap::LoadParameters ( const ros::NodeHandle &  n )

privatevirtual

Reimplemented from fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 211 of file balls_in_box_occupancy_map.cpp.

double fastrack::environment::BallsInBoxOccupancyMap::OccupancyProbability ( const Vector3d &  p, double  time = std::numeric_limits<double>::quiet_NaN()  ) const

virtual

Implements fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 48 of file balls_in_box_occupancy_map.cpp.

double fastrack::environment::BallsInBoxOccupancyMap::OccupancyProbability ( const Vector3d &  p, const TrackingBound &  bound, double  time = std::numeric_limits<double>::quiet_NaN()  ) const

virtual

Implements fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 83 of file balls_in_box_occupancy_map.cpp.

void fastrack::environment::BallsInBoxOccupancyMap::SensorCallback ( const typename fastrack_msgs::SensedSpheres::ConstPtr &  msg )

privatevirtual

Implements fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 127 of file balls_in_box_occupancy_map.cpp.

fastrack_msgs::SensedSpheres fastrack::environment::BallsInBoxOccupancyMap::SimulateSensor ( const SphereSensorParams &  params ) const

virtual

Implements fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 185 of file balls_in_box_occupancy_map.cpp.

void fastrack::environment::BallsInBoxOccupancyMap::Visualize ( ) const

virtual

Implements fastrack::environment::OccupancyMap< fastrack_msgs::SensedSpheres, SphereSensorParams >.

Definition at line 218 of file balls_in_box_occupancy_map.cpp.

Member Data Documentation

constexpr double fastrack::environment::BallsInBoxOccupancyMap::kFreeProbability = 0.0

staticprivate

Definition at line 109 of file balls_in_box_occupancy_map.h.

constexpr double fastrack::environment::BallsInBoxOccupancyMap::kOccupiedProbability = 1.0

staticprivate

Definition at line 107 of file balls_in_box_occupancy_map.h.

constexpr double fastrack::environment::BallsInBoxOccupancyMap::kUnknownProbability = 0.5

staticprivate

Definition at line 108 of file balls_in_box_occupancy_map.h.

double fastrack::environment::BallsInBoxOccupancyMap::largest_obstacle_radius_

private

Definition at line 103 of file balls_in_box_occupancy_map.h.

double fastrack::environment::BallsInBoxOccupancyMap::largest_sensor_radius_

private

Definition at line 104 of file balls_in_box_occupancy_map.h.

KdtreeMap<3, double> fastrack::environment::BallsInBoxOccupancyMap::obstacles_

private

Definition at line 99 of file balls_in_box_occupancy_map.h.

KdtreeMap<3, double> fastrack::environment::BallsInBoxOccupancyMap::sensor_fovs_

private

Definition at line 100 of file balls_in_box_occupancy_map.h.

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

• balls_in_box_occupancy_map.h
• balls_in_box_occupancy_map.cpp