Tracker Class Reference

Tracking interface: Bridge between the real world and the simulation. Is used for tracking execution of tasks and using lived experience to modify the state-matching threshold. More...

#include <tracker.h>

Inheritance diagram for Tracker:

Collaboration diagram for Tracker:

Public Member Functions
Threshold *	get_threshold ()
void	register_learner (ThresholdLearner *l)
b2Transform	getDeltaTransform ()
virtual TrackingResult	get_transform (const Task &t, const CoordinateContainer &pts, const std::vector< BodyFeatures > &objects)
virtual TrackingResult	track (const Task &t, const CoordinateContainer &pts, const std::vector< BodyFeatures > &objects)=0
	Tracks task execution. More...
virtual void	on_new_task (const Task &task, const Task &goal)=0
	Called every time a new task is created. More...
virtual void	on_new_reading (const Task &goal, const Task &currentTask)=0
	Called every time asensor reading is available. More...
virtual void	init (const Task &goal)=0
virtual bool	hasTaskEnded (Task &t)
void	make_log ()
	opens file where all the data is dumped

Public Attributes
Threshold	threshold =Threshold()

Protected Member Functions
void	log_thresholds ()

Protected Attributes
friend	Configurator
ThresholdLearner *	learner =NULL
b2Transform	deltaTransform =b2Transform_zero

Detailed Description

Tracking interface: Bridge between the real world and the simulation. Is used for tracking execution of tasks and using lived experience to modify the state-matching threshold.

Member Function Documentation

get_transform()

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

virtual

calculates 2d affine transformation of input task's disturbance from t-1 to t. In other words, expresses how much the disturbance has moved

Parameters

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

Reimplemented in ClosedLoop_Tracker.

on_new_reading()

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

pure virtual

Called every time asensor reading is available.

Parameters

task

Implemented in ClosedLoop_Tracker, and DeadReckoner.

on_new_task()

virtual void Tracker::on_new_task ( const Task &  task, const Task &  goal  )

pure virtual

Called every time a new task is created.

Parameters

t

the task

Implemented in ClosedLoop_Tracker, and DeadReckoner.

track()

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

pure 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

Implemented in ClosedLoop_Tracker, and DeadReckoner.

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

• src/tracker.h
• src/tracker.cpp