MipResources::OfflineMR Class Reference
[Offliner Task]

#include <OfflineMR.h>

Inheritance diagram for MipResources::OfflineMR:

List of all members.

Public Member Functions
	OfflineMR ()
	Default constructor.
	OfflineMR (const int id, const string fol, const string tst, const string pro, const string cao, const string gam, const string coi, const string tru, const string trt, const int &GTLoad)
	Complete constructor.
bool	getMyProtrusions (Time &instant, MotionModuleTState &myPTstate, PosiFeatures &pf)
	Gets the protrusions and the associated MotionModuleTState at the give Time.
bool	getMyCamObs (Time &instant, MotionModuleTState &myCTstate, vector< Angle > &co)
	Gets the protrusions and the associated MotionModuleTState at the give Time.
bool	getMy3DCamObs (Time &instant, PosiFeatures3DTimeArma &co, int &index)
	Gets the protrusions and the associated MotionModuleTState at the give Time.
bool	getMyTState (Time &instant, MotionModuleTState &myTState)
	Gets the MotionModuleTState at the give Time.
bool	getMyGaussianMixtureJointId (Time &instant, MotionModuleTState &myGTstate, string &myGMJI)
	Gets the MotionModuleTState at the give Time.
bool	getMyControlInputs (Time &instant, Time &prevInstant, MRControlInputs &myCI)
	Gets the MotionModuleTState at the give Time.
bool	getMyTrueTState (Time &instant, MotionModuleTState &myTrueTState, int *index=NULL)
	Gets the MotionModuleTState at the give Time.
void	getMyTrueTState (MotionModuleTState &myPose, const int &index)
	Gets the MotionModuleTState at the give index.
string	getObjectName () const
	Gets the name of the object.
void	compute3DCamObsStatic (Roto3DArma &_rotoFakeGroundTruthCamTrans, Position3DArma &_traslFakeGroundTruthCam, OfflineMR &_my3DObs)
void	compute3DCamObs (Roto3DArma &_rotoFakeGroundTruthCamTrans, Position3DArma &_traslFakeGroundTruthCam, OfflineMR &_my3DObs, int i)
Public Attributes
vector< PosiFeatures >	_myProtrusions
vector< MotionModuleTState >	_myProtrusionsTStates
vector< vector< Angle > >	_myCamObs
vector< MotionModuleTState >	_myCamObsTStates
vector< MotionModuleTState >	_myTStates
vector< MotionModuleTState >	_myTrueTStates
vector< string >	_myGaussianMixtureJointId
vector< MotionModuleTState >	_myGaussianMixtureJointIdTStates
vector< MRControlInput >	_myControlInput
vector < MipBaselib::PosiFeatures3DTimeArma >	_my3DObs
map< int, vector < MipBaselib::Position3DTimeArma > >	_my3DTempObs
Decimal	_startingTime
	It stores the minimum starting time between the valid files.
bool	_firstValidFile
	It specifies if a valid file is already read.

---

Constructor & Destructor Documentation

MipResources::OfflineMR::OfflineMR

(

)

Default constructor.

MipResources::OfflineMR::OfflineMR	(	const int	id,
		const string	fol,
		const string	tst,
		const string	pro,
		const string	cao,
		const string	gam,
		const string	coi,
		const string	tru,
		const string	trt,
		const int &	GTLoad
	)

Complete constructor.

---

Member Function Documentation

bool MipResources::OfflineMR::getMyProtrusions	(	Time &	instant,
		MotionModuleTState &	myPTstate,
		PosiFeatures &	pf
	)

Gets the protrusions and the associated MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested Protrusion.
[out]	&myPTstate	MotionModuleTState in which the requested Protrusion is taken.
[out]	&pf	The requested Protrusion. Get the Protrusions and the relative MotionModuleTState at the time instant.

bool MipResources::OfflineMR::getMyCamObs	(	Time &	instant,
		MotionModuleTState &	myCTstate,
		vector< Angle > &	co
	)

Gets the protrusions and the associated MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested CameraObservation.
[out]	&myCTstate	MotionModuleTState in which the requested CameraObservation is taken.
[out]	&co	The requested CameraObservation. Get the CameraObservation and the relative MotionModuleTState at the time instant.

bool MipResources::OfflineMR::getMy3DCamObs	(	Time &	instant,
		PosiFeatures3DTimeArma &	co,
		int &	index
	)

Gets the protrusions and the associated MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested CameraObservation.
[out]	&co	The requested CameraObservation.

Returns:

True if a valid camera observation is retrieved; false otherwise Get the CameraObservation and the relative MotionModuleTState at the time instant.

bool MipResources::OfflineMR::getMyTState	(	Time &	instant,
		MotionModuleTState &	myTState
	)

Gets the MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested TState.
[out]	&myCTstate	the requested MotionModuleTState.

bool MipResources::OfflineMR::getMyGaussianMixtureJointId	(	Time &	instant,
		MotionModuleTState &	myGTstate,
		string &	myGMJI
	)

Gets the MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested TState.
[out]	&myCTstate	MotionModuleTState in which the requested GaussianMixtureJointId is taken.
[out]	&myGMJI	the requested GaussianMixtureJointId.

bool MipResources::OfflineMR::getMyControlInputs	(	Time &	instant,
		Time &	prevInstant,
		MRControlInputs &	myCI
	)

Gets the MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested TState.
[out]	&myCTstate	MotionModuleTState in which the requested control input is taken.
[out]	&myCI	the requested GaussianMixtureJointId.

bool MipResources::OfflineMR::getMyTrueTState	(	Time &	instant,
		MotionModuleTState &	myTrueTState,
		int *	index = NULL
	)

Gets the MotionModuleTState at the give Time.

Parameters:

[in]	&instant	Time of the requested TState.
[in]	index	OPTIONAL - index of the vector found
[out]	&myCTstate	the requested MotionModuleTState.

void MipResources::OfflineMR::getMyTrueTState	(	MotionModuleTState &	myPose,
		const int &	index
	)

Gets the MotionModuleTState at the give index.

Parameters:

[in]	index	Index of the vector where one wants the ground truth
[in]	&myPose	MotionModuleTState associated in position index (other input) of the ground truth

Note:

This method is useful in case of ground truth time in common among all mobile robots

In fact, one can compute the time index only for first robot, then the index is already found

string MipResources::OfflineMR::getObjectName

(

)

const [inline, virtual]

Gets the name of the object.

Implements MIPObject.

void MipResources::OfflineMR::compute3DCamObsStatic	(	Roto3DArma &	_rotoFakeGroundTruthCamTrans,
		Position3DArma &	_traslFakeGroundTruthCam,
		OfflineMR &	_my3DObs
	)

void MipResources::OfflineMR::compute3DCamObs	(	Roto3DArma &	_rotoFakeGroundTruthCamTrans,
		Position3DArma &	_traslFakeGroundTruthCam,
		OfflineMR &	_my3DObs,
		int	i
	)

---

Member Data Documentation

vector<PosiFeatures> MipResources::OfflineMR::_myProtrusions

vector<MotionModuleTState> MipResources::OfflineMR::_myProtrusionsTStates

vector< vector <Angle> > MipResources::OfflineMR::_myCamObs

vector<MotionModuleTState> MipResources::OfflineMR::_myCamObsTStates

vector<MotionModuleTState> MipResources::OfflineMR::_myTStates

vector<MotionModuleTState> MipResources::OfflineMR::_myTrueTStates

vector<string> MipResources::OfflineMR::_myGaussianMixtureJointId

vector<MotionModuleTState> MipResources::OfflineMR::_myGaussianMixtureJointIdTStates

vector<MRControlInput> MipResources::OfflineMR::_myControlInput

vector<MipBaselib::PosiFeatures3DTimeArma > MipResources::OfflineMR::_my3DObs

map<int,vector< MipBaselib::Position3DTimeArma > > MipResources::OfflineMR::_my3DTempObs

Decimal MipResources::OfflineMR::_startingTime

It stores the minimum starting time between the valid files.

bool MipResources::OfflineMR::_firstValidFile

It specifies if a valid file is already read.

---

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

• resources/MobileRob/OfflineMR.h
• resources/MobileRob/OfflineMR.cpp