Container for a line with tracking and smoothing info. More...

#include "line_info.h"

Public Member Functions
	TrackedLineInfo (fawkes::tf::Transformer tfer, const std::string &input_frame_id, const std::string &tracking_frame_id, float cfg_switch_tolerance, unsigned int cfg_moving_avg_len, fawkes::Logger logger, const std::string &plugin_name)
	Constructor. More...

btScalar	distance (const LineInfo &linfo) const
	Compute this line's distance from line info. More...

void	update (LineInfo &new_linfo)
	Update this line. More...

void	not_visible_update ()
	Update this currently not visible line, make the visibility history (more) negative and invalidate the data. More...

Public Attributes
int	interface_idx
	id of the interface, this line is written to, -1 when not yet assigned More...

int	visibility_history
	visibility history of this line, negative for "no sighting" More...

LineInfo	raw
	the latest geometry of this line, i.e. unfiltered More...

LineInfo	smooth
	moving-average geometry of this line (cf. length of history buffer) More...

fawkes::tf::Stamped< fawkes::tf::Point >	base_point_odom
	last reference point (in odom frame) for line tracking More...

fawkes::tf::Transformer *	transformer
	Transformer used to transform from input_frame_id_to odom. More...

std::string	input_frame_id
	Input frame ID of raw line infos (base_laser usually) More...

std::string	tracking_frame_id
	Track lines relative to this frame (e.g. odom helps compensate movement) More...

float	cfg_switch_tolerance
	Configured line jitter threshold. More...

boost::circular_buffer< LineInfo >	history
	history of raw line geometries for computing moving average More...

float	bearing_center
	Bearing towards line center, used to select lines "in front of us" when there. More...

fawkes::Logger *	logger
	Logger pointer of the calling class. More...

std::string	plugin_name
	Plugin name of the calling class. More...

Detailed Description

Container for a line with tracking and smoothing info.

Definition at line 59 of file line_info.h.

Constructor & Destructor Documentation

◆ TrackedLineInfo()

TrackedLineInfo::TrackedLineInfo	(	fawkes::tf::Transformer *	tfer,
		const std::string &	input_frame_id,
		const std::string &	tracking_frame_id,
		float	cfg_switch_tolerance,
		unsigned int	cfg_moving_avg_len,
		fawkes::Logger *	logger,
		const std::string &	plugin_name
	)

Constructor.

Parameters

tfer	tf transformer
input_frame_id	frame id of incoming data
tracking_frame_id	fixed frame in which to perform tracking
cfg_switch_tolerance	tolerance in m for when to assume a line ID switch
cfg_moving_avg_len	length of buffer for moving average
logger	logger for informational messages
plugin_name	component for informational messages

Definition at line 40 of file line_info.cpp.

Member Function Documentation

◆ distance()

btScalar TrackedLineInfo::distance ( const LineInfo & linfo ) const

Compute this line's distance from line info.

Parameters

linfo line info

Returns: the scalar distance between the two base points in meters.

Definition at line 65 of file line_info.cpp.

References LineInfo::base_point, base_point_odom, input_frame_id, tracking_frame_id, fawkes::tf::Transformer::transform_point(), and transformer.

◆ not_visible_update()

void TrackedLineInfo::not_visible_update ( )

Update this currently not visible line, make the visibility history (more) negative and invalidate the data.

Definition at line 88 of file line_info.cpp.

References LineInfo::cloud, raw, smooth, and visibility_history.

◆ update()

void TrackedLineInfo::update ( LineInfo & linfo )

Update this line.

Parameters

linfo new info to consume This also updates moving averages for all fields.

Definition at line 104 of file line_info.cpp.

References LineInfo::base_point, base_point_odom, LineInfo::bearing, bearing_center, LineInfo::cloud, LineInfo::end_point_1, LineInfo::end_point_2, history, input_frame_id, LineInfo::length, LineInfo::line_direction, fawkes::Logger::log_warn(), logger, plugin_name, LineInfo::point_on_line, raw, smooth, tracking_frame_id, fawkes::tf::Transformer::transform_point(), transformer, and visibility_history.

Member Data Documentation

◆ base_point_odom

fawkes::tf::Stamped<fawkes::tf::Point> TrackedLineInfo::base_point_odom

last reference point (in odom frame) for line tracking

Definition at line 67 of file line_info.h.

Referenced by distance(), and update().

◆ bearing_center

float TrackedLineInfo::bearing_center

Bearing towards line center, used to select lines "in front of us" when there.

Definition at line 77 of file line_info.h.

Referenced by update().

◆ cfg_switch_tolerance

float TrackedLineInfo::cfg_switch_tolerance

Configured line jitter threshold.

Definition at line 73 of file line_info.h.

◆ history

boost::circular_buffer<LineInfo> TrackedLineInfo::history

history of raw line geometries for computing moving average

Definition at line 75 of file line_info.h.

Referenced by update().

◆ input_frame_id

std::string TrackedLineInfo::input_frame_id

Input frame ID of raw line infos (base_laser usually)

Definition at line 70 of file line_info.h.

Referenced by distance(), and update().

◆ interface_idx

int TrackedLineInfo::interface_idx

id of the interface, this line is written to, -1 when not yet assigned

Definition at line 62 of file line_info.h.

◆ logger

fawkes::Logger* TrackedLineInfo::logger

Logger pointer of the calling class.

Definition at line 78 of file line_info.h.

Referenced by update().

◆ plugin_name

std::string TrackedLineInfo::plugin_name

Plugin name of the calling class.

Definition at line 79 of file line_info.h.

Referenced by update().

◆ raw

LineInfo TrackedLineInfo::raw

the latest geometry of this line, i.e. unfiltered

Definition at line 64 of file line_info.h.

Referenced by not_visible_update(), and update().

◆ smooth

LineInfo TrackedLineInfo::smooth

moving-average geometry of this line (cf. length of history buffer)

Definition at line 65 of file line_info.h.

Referenced by not_visible_update(), and update().

◆ tracking_frame_id

std::string TrackedLineInfo::tracking_frame_id

Track lines relative to this frame (e.g. odom helps compensate movement)

Definition at line 72 of file line_info.h.

Referenced by distance(), and update().

◆ transformer

fawkes::tf::Transformer* TrackedLineInfo::transformer

Transformer used to transform from input_frame_id_to odom.

Definition at line 69 of file line_info.h.

Referenced by distance(), and update().

◆ visibility_history

int TrackedLineInfo::visibility_history

visibility history of this line, negative for "no sighting"

Definition at line 63 of file line_info.h.

Referenced by not_visible_update(), and update().

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

src/plugins/laser-lines/line_info.h
src/plugins/laser-lines/line_info.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrackedLineInfo()

Member Function Documentation

◆ distance()

◆ not_visible_update()

◆ update()

Member Data Documentation

◆ base_point_odom

◆ bearing_center

◆ cfg_switch_tolerance

◆ history

◆ input_frame_id

◆ interface_idx

◆ logger

◆ plugin_name

◆ raw

◆ smooth

◆ tracking_frame_id

◆ transformer

◆ visibility_history