Tracks task execution through dead reckoning. More...

#include <tracker.h>

Inheritance diagram for DeadReckoner:

Collaboration diagram for DeadReckoner:

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

b2Transform	track (Task &t, const CoordinateContainer &pts, std::vector< BodyFeatures > &objects)
	Tracks task execution. More...

void	on_new_task (Task *task=NULL)
	Called every time a new task is created. More...

void	on_new_reading (Task *task=NULL)
	Called every time asensor reading is available. More...

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 through dead reckoning.

Member Function Documentation

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

inlinevirtual

calculates 2d affine transformation of input task's disturbance from t-1 to t

Parameters

t	input task
pts	point cloud
objects	world objects as extracted in worldbuilder

Implements Tracker.

void DeadReckoner::on_new_reading ( Task * task = NULL )

inlinevirtual

Called every time asensor reading is available.

Parameters

task

Implements Tracker.

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

inlinevirtual

Called every time a new task is created.

Parameters

t the task

Implements Tracker.

b2Transform DeadReckoner::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.

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