jafar::rtslam::SensorAbstract Class Reference

Base class for all types of sensors. More...

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Detailed Description

Base class for all types of sensors.

Definition at line 43 of file sensorAbstract.hpp.

#include <sensorAbstract.hpp>

Inheritance diagram for jafar::rtslam::SensorAbstract:

List of all members.

Public Types
enum	type_enum { PINHOLE, PINHOLESTEREO, BARRETO }
enum	kind_enum { PROPRIOCEPTIVE, EXTEROCEPTIVE }
Public Member Functions
	SensorAbstract (const robot_ptr_t &_robPtr, const filtered_obj_t poseInFilter=UNFILTERED, int extraStateFilterSize=0, std::vector< RobotAbstract::Quantity > robQuant=createQuantPosOriQuat())
	Selectable LOCAL or REMOTE pose constructor.
virtual	~SensorAbstract ()
	Mandatory virtual destructor.
void	setIntegrationPolicy (bool integrate_all)
bool	getIntegrationPolicy ()
void	setUseForInit (bool use_for_init)
bool	getUseForInit ()
void	setNeedInit (bool need_init)
bool	getNeedInit ()
virtual void	move ()
	Move function for sensors for now just to apply constraints, but should be thought more generally it it can have a command, or slowly change (noise), etc should be included in the state of the robot probably, and anyway done in a more efficient and clean way.
virtual int	queryAvailableRaws (RawInfos &infos)=0
	get information about the available raws and the estimated dates for next one
virtual int	queryNextAvailableRaw (RawInfo &info)=0
	get information about the next available raw
virtual double	getRawTimestamp (unsigned id)=0
virtual void	process (unsigned id, double date_limit=-1.)=0
	process the given raw and throw away the previous unprocessed ones
virtual void	process_fake (unsigned id, bool move)=0
	don't do any predict or update, but let the data acquisition run smoothly
virtual void	discard (unsigned id)=0
	discard a data without using it
virtual void	init (double date)
	use previous data to initialize the robot if needed
virtual void	start ()=0
virtual void	stop ()=0
virtual bool	join (int timed_ms=-1)=0
void	enable (bool enabled=true)
bool	isEnabled ()
virtual void	enableHard (bool enabled=true)=0
virtual void	stopDumping ()=0
virtual void	showInfos ()=0
virtual std::string	categoryName () const
void	setId ()
void	setPose (double x, double y, double z, double rollDeg, double pitchDeg, double yawDeg)
void	setPoseStd (double x, double y, double z, double rollDeg, double pitchDeg, double yawDeg, double xStd, double yStd, double zStd, double rollDegStd, double pitchDegStd, double yawDegStd)
void	setPoseStd (double x, double y, double z, double rollDeg, double pitchDeg, double yawDeg, double posStd, double oriDegStd)
vec7	globalPose (bool normalize=false)
	Get sensor pose in global frame.
void	globalPose (jblas::vec7 &senGlobalPose, jblas::mat &SG_rs)
	Get sensor pose in global frame.
virtual void	writeLogHeader (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Static Public Member Functions
static std::vector < RobotAbstract::Quantity >	createQuantPosOriQuat ()
Public Attributes
enum jafar::rtslam::SensorAbstract::type_enum	type
enum jafar::rtslam::SensorAbstract::kind_enum	kind
Gaussian	pose
	Sensor pose in robot.
ind_array	ia_globalPose
	Indices of sensor's global pose in map (this is either the ia of the robot, rob.ia to make it short, or the ia_union() of rob.ia and sen.ia)
bool	poseInFilter
	Flag indicating if the sensor pose is being filtered.
size_t	missed_data
	how many data have been missed before last integration
Protected Attributes
bool	integrate_all
bool	use_for_init
	use this sensor to init the state, so needs to process it before those that are not used to init the state
bool	need_init
	needs a few seconds of readings to initialize
bool	enabled
RobotQuantity	quantsJacob
	whether the sensor is enabled or not (different from hardwaresensor level, will not wait for data)
RobotQuantity	quantsState
	quantities positions in the filter state
Static Protected Attributes
static IdFactory	sensorIds
Private Member Functions
	ENABLE_LINK_TO_PARENT (RobotAbstract, Robot, SensorAbstract)
	ENABLE_ACCESS_TO_PARENT (RobotAbstract, robot)

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Constructor & Destructor Documentation

jafar::rtslam::SensorAbstract::SensorAbstract	(	const robot_ptr_t &	_robPtr,
		const filtered_obj_t	poseInFilter = UNFILTERED,
		int	extraStateFilterSize = 0,
		std::vector< RobotAbstract::Quantity >	robQuant = createQuantPosOriQuat()
	)

Selectable LOCAL or REMOTE pose constructor.

Creates a sensor with the pose indexed in a map.

Parameters:

robPtr	the robot
poseInFilter	flag indicating if the sensor pose is part of the filter (REMOTE).

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Member Function Documentation

vec7 jafar::rtslam::SensorAbstract::globalPose

(

bool

normalize = false

)

Get sensor pose in global frame.

This function composes robot pose with sensor pose to obtain the global sensor pose.

Returns:

the global pose.

void jafar::rtslam::SensorAbstract::globalPose	(	jblas::vec7 &	senGlobalPose,
		jblas::mat &	SG_rs
	)

Get sensor pose in global frame.

This function composes robot pose with sensor pose to obtain the global sensor pose. It renders the Jacobians of the composed frame wrt all variables that are in the map (either robot only, or robot and sensor), depending on the sensor pose storage being LOCAL or REMOTE (see class Gaussian for doc on storage options). Therefore, this Jacobian is either 7-by-7 (LOCAL sensor pose) or 7-by-14 (REMOTE sensor pose).

The concerned states are available as an indirect array ia_rs, member of the class and defined at construction time.

Parameters:

poseG	the global pose.
PG_rs	the Jacobian wrt the mapped states of robot and sensor.

virtual void jafar::rtslam::SensorAbstract::process	(	unsigned	id,
		double	date_limit = -1.
	)		[pure virtual]

process the given raw and throw away the previous unprocessed ones

Returns:

innovation

Implemented in jafar::rtslam::SensorExteroAbstract, and jafar::rtslam::SensorAbsloc.

virtual void jafar::rtslam::SensorAbstract::writeLogData

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

virtual void jafar::rtslam::SensorAbstract::writeLogHeader

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

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Member Data Documentation

RobotQuantity jafar::rtslam::SensorAbstract::quantsJacob [protected]

whether the sensor is enabled or not (different from hardwaresensor level, will not wait for data)

quantities positions in the sensor jacobians

Definition at line 60 of file sensorAbstract.hpp.

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

• modules/rtslam/include/rtslam/sensorAbstract.hpp