ClosedLoop_Tracker Class Reference

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
b2Transform	get_transform (const Task &t, const CoordinateContainer &pts, Disturbance *observed_disturbance, std::vector< BodyFeatures > &objects)
	returns 2d transformation matrix between one scan and the next based on the displacement of disturbance Di for a task More...
b2Transform	track (Task &t, const CoordinateContainer &pts, 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
Disturbance *	get_tracked_disturbance ()
void	set_tracked_disturbance (const Disturbance &d)
std::vector< BodyFeatures >::iterator	find_disturbance (std::vector< BodyFeatures > &objects, const BodyFeatures &dist, b2Transform t, float *_least_square=NULL)
	Get disturbance to be tracked among the worldbuilder objects. More...
void	on_new_task (Task *task=NULL)
	Uses the goal to reset tracked disturbance at each task. More...
void	on_new_reading (Task *goal=NULL)
	Updates the attention window at each sensor reading. More...
void	set_attention (b2PolygonShape ps)
void	init (Task *goal)
Public Member Functions inherited from Tracker
Threshold *	get_threshold ()
void	register_learner (ThresholdLearner *l)
void	make_log ()
	opens file where all the data is dumped

Additional Inherited Members
Public Attributes inherited from Tracker
Threshold	threshold =Threshold()
Protected Member Functions inherited from Tracker
void	log_thresholds ()
Protected Attributes inherited from Tracker
ThresholdLearner *	learner =NULL

Detailed Description

Tracks task execution by observing changes in tracked disturbance.

Member Function Documentation

find_disturbance()

std::vector< BodyFeatures >::iterator ClosedLoop_Tracker::find_disturbance	(	std::vector< BodyFeatures > &	objects,
		const BodyFeatures &	dist,
		b2Transform	t,
		float *	_least_square = NULL
	)

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()

b2Transform ClosedLoop_Tracker::get_transform ( const Task &  t, const CoordinateContainer &  pts, Disturbance *  observed_disturbance, std::vector< BodyFeatures > &  objects  )

virtual

returns 2d transformation matrix between one scan and the next based on the displacement of disturbance Di for a task

Parameters

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

Implements Tracker.

on_new_reading()

void ClosedLoop_Tracker::on_new_reading ( Task *  goal = NULL )

virtual

Updates the attention window at each sensor reading.

Parameters

goal

the goal

Implements Tracker.

on_new_task()

void ClosedLoop_Tracker::on_new_task ( Task *  task = NULL )

virtual

Uses the goal to reset tracked disturbance at each task.

Parameters

task	the new task

Implements Tracker.

track()

b2Transform ClosedLoop_Tracker::track ( Task &  t, const CoordinateContainer &  pts, 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.

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

• src/tracker.h
• src/tracker.cpp