Tracks task execution by observing changes in tracked disturbance. More...

#include <tracker.h>

Inheritance diagram for ClosedLoop_Tracker:

Collaboration diagram for ClosedLoop_Tracker:

Public Member Functions
TrackingResult	get_transform (const Task &t, const CoordinateContainer &pts, const std::vector< BodyFeatures > &objects) override
	returns 2d transformation matrix between one scan and the next based on the displacement of disturbance Di for a task + the disturbance as observed (this is to update the noisy measurement) More...

TrackingResult	track (const Task &t, const CoordinateContainer &pts, const std::vector< BodyFeatures > &objects)
	Tracks task execution. More...

cv::Rect2f	real_world_focus (const Task *)
	returns an upright rectangle which represents a focus of attention for finding points corresponding to input task's disturbance

virtual std::vector< BodyFeatures >::const_iterator	find_disturbance (std::vector< BodyFeatures >::const_iterator objects_begin, std::vector< BodyFeatures >::const_iterator objects_end, const BodyFeatures &dist, b2Transform t, float *_least_square=NULL)
	Get disturbance to be tracked among the worldbuilder objects. More...

void	correctAngle (BodyFeatures &found, const BodyFeatures &dist)
	Sets angle to be smallest possible increment compared to dist. More...

void	on_new_task (const Task &task, const Task &goal) override
	Uses the goal to reset tracked disturbance at each task. More...

virtual void	on_new_reading (const Task &goal, const Task &currentTask) override
	Called every time asensor reading is available. More...

void	set_attention (b2PolygonShape ps)

void	init (const Task &goal)

virtual bool	hasTaskEnded (Task &t)

void	makeAttentionWindow (const Task &goal, const Task &currentTask)
	Updates the attention window at each sensor reading. More...

Public Member Functions inherited from Tracker
Threshold *	get_threshold ()

void	register_learner (ThresholdLearner *l)

b2Transform	getDeltaTransform ()

void	make_log ()
	opens file where all the data is dumped

Protected Member Functions
float	window_area ()
	gets the area of the attention window (for debugging)

Protected Member Functions inherited from Tracker
void	log_thresholds ()

Protected Attributes
Disturbance	tracked_disturbance

b2PolygonShape	attention_window

Protected Attributes inherited from Tracker
friend	Configurator

ThresholdLearner *	learner =NULL

b2Transform	deltaTransform =b2Transform_zero

Additional Inherited Members
Public Attributes inherited from Tracker
Threshold	threshold =Threshold()

Detailed Description

Tracks task execution by observing changes in tracked disturbance.

Member Function Documentation

◆ correctAngle()

void ClosedLoop_Tracker::correctAngle	(	BodyFeatures &	found,
		const BodyFeatures &	dist
	)

Sets angle to be smallest possible increment compared to dist.

Parameters

found	the found disturbance
dist	the disturbance to be tracked

◆ find_disturbance()

std::vector< BodyFeatures >::const_iterator ClosedLoop_Tracker::find_disturbance	(	std::vector< BodyFeatures >::const_iterator	objects_begin,
		std::vector< BodyFeatures >::const_iterator	objects_end,
		const BodyFeatures &	dist,
		b2Transform	t,
		float *	_least_square = `NULL`
	)

virtual

Get disturbance to be tracked among the worldbuilder objects.

Parameters

objects	worldBuilder objects
dist	disturbance to be tracked
t	the estimated instantaneous 2d transform associated to the currently executed task

◆ get_transform()

TrackingResult ClosedLoop_Tracker::get_transform	(	const Task &	t,
		const CoordinateContainer &	pts,
		const std::vector< BodyFeatures > &	objects
	)

overridevirtual

returns 2d transformation matrix between one scan and the next based on the displacement of disturbance Di for a task + the disturbance as observed (this is to update the noisy measurement)

Parameters

t	the current task
pts	lidar reading
observed_disturbance	disturbance Di for task t
objects	objects in the world (stored in worldbuilder)

Reimplemented from Tracker.

◆ makeAttentionWindow()

void ClosedLoop_Tracker::makeAttentionWindow	(	const Task &	goal,
		const Task &	currentTask
	)

Updates the attention window at each sensor reading.

Parameters

goal the goal

◆ on_new_reading()

virtual void ClosedLoop_Tracker::on_new_reading	(	const Task &	goal,
		const Task &	currentTask
	)

inlineoverridevirtual

Called every time asensor reading is available.

Parameters

task

Implements Tracker.

◆ on_new_task()

void ClosedLoop_Tracker::on_new_task	(	const Task &	task,
		const Task &	goal
	)

overridevirtual

Uses the goal to reset tracked disturbance at each task.

Parameters

task	the new task
goal	the goal

Implements Tracker.

◆ track()

TrackingResult ClosedLoop_Tracker::track	(	const Task &	t,
		const CoordinateContainer &	pts,
		const std::vector< BodyFeatures > &	objects
	)

virtual

Tracks task execution.

Parameters

t	input task
pts	point cloud
observed_disturbance	pointer body features of the observed disturbance.
objects	world objects as extracted in worldbuilder

Returns: b2Transform that the robot has moved by, can use for updating cognitive map and control

Implements Tracker.

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

src/tracker.h
src/tracker.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ correctAngle()

◆ find_disturbance()

◆ get_transform()

◆ makeAttentionWindow()

◆ on_new_reading()

◆ on_new_task()

◆ track()