Beobot2_GistSalLocalizerMasterI Class Reference

Inheritance diagram for Beobot2_GistSalLocalizerMasterI:

Collaboration diagram for Beobot2_GistSalLocalizerMasterI:

Public Member Functions
Constructors and Destructors

	Beobot2_GistSalLocalizerMasterI (OptionManager &mgr, const std::string &descrName="Beobot2_GistSalLocalizerMaster", const std::string &tagName="Beobot2_GistSalLocalizerMaster")
	~Beobot2_GistSalLocalizerMasterI ()
virtual void	start1 ()
	Get started. See ModelComponent.
virtual void	evolve ()
	Evolve: Gets called by run in a while(1) loop. Anything that you want to happen continuously should go in here.
virtual void	updateMessage (const RobotSimEvents::EventMessagePtr &eMsg, const Ice::Current &)
	Get a message.
virtual void	registerTopics ()
	and registerPublisher calls that you would like to happen automatically after init.
void	setEnvironment (rutz::shared_ptr< Environment > env)
	set the environment - has to be done
member functions

void	initParticles (std::string belFName=std::string(""))
	initialize the localization particles
void	input ()
rutz::shared_ptr< Histogram >	getSegmentBeliefHistogram ()
	the belief histogram for segment only localization
void	updateBelief ()
void	actionUpdateBelief ()
	move the object from the previous location
void	segmentUpdateBelief ()
	update belief using the segment prediction
void	objectUpdateBelief ()
	update belief using all the objects found
void	objectUpdateBelief (uint index)
	update belief using object 'index'
void	setLocation ()
	set the most likely location
void	saveLocalizerResults ()
	save the localizer results
Image< PixRGB< byte > >	getBeliefImage (uint w, uint h, int &scale)
	get the belief image (it is put on top of a map)
Image< PixRGB< byte > >	getDisplayImage ()
Image< PixRGB< byte > >	getSalImage (Image< PixRGB< byte > > ima, std::vector< rutz::shared_ptr< VisualObject > > inputVO, std::vector< Point2D< int > > objOffset, std::vector< bool > found)
void	setNumWorkers (uint numWorkers)
void	setSavePrefix (std::string prefix)

Detailed Description

Definition at line 59 of file Beobot2_GistSalLocalizerMaster.H.

Member Function Documentation

void Beobot2_GistSalLocalizerMasterI::actionUpdateBelief ( )

move the object from the previous location

Definition at line 1068 of file Beobot2_GistSalLocalizerMaster.C.

References log(), and sqrt().

void Beobot2_GistSalLocalizerMasterI::evolve ( ) [virtual]

Evolve: Gets called by run in a while(1) loop. Anything that you want to happen continuously should go in here.

Reimplemented from RobotBrainComponent.

Definition at line 134 of file Beobot2_GistSalLocalizerMaster.C.

Image< PixRGB< byte > > Beobot2_GistSalLocalizerMasterI::getBeliefImage	(	uint	w,
		uint	h,
		int &	scale
	)

get the belief image (it is put on top of a map)

Definition at line 1505 of file Beobot2_GistSalLocalizerMaster.C.

References drawCircle(), drawDisk(), flipHoriz(), Image< T >::getHeight(), getSegmentBeliefHistogram(), Image< T >::getWidth(), Point2D< T >::i, inplacePaste(), transpose(), Dims::w(), and ZEROS.

rutz::shared_ptr< Histogram > Beobot2_GistSalLocalizerMasterI::getSegmentBeliefHistogram ( )

the belief histogram for segment only localization

print the histogram profile

Definition at line 958 of file Beobot2_GistSalLocalizerMaster.C.

Referenced by getBeliefImage().

void Beobot2_GistSalLocalizerMasterI::initParticles ( std::string belFName = std::string("") )

initialize the localization particles

Definition at line 630 of file Beobot2_GistSalLocalizerMaster.C.

References Point2D< T >::i, and Raster::waitForKey().

void Beobot2_GistSalLocalizerMasterI::objectUpdateBelief ( uint index )

update belief using object 'index'

Definition at line 1314 of file Beobot2_GistSalLocalizerMaster.C.

References Point2D< T >::distance(), Dims::h(), sqrt(), and Dims::w().

void Beobot2_GistSalLocalizerMasterI::objectUpdateBelief ( )

update belief using all the objects found

Definition at line 1197 of file Beobot2_GistSalLocalizerMaster.C.

References Point2D< T >::distance(), Dims::h(), sqrt(), and Dims::w().

void Beobot2_GistSalLocalizerMasterI::registerTopics ( ) [virtual]

and registerPublisher calls that you would like to happen automatically after init.

Register Topics: This function is called at the end of init, and is virtual so that is can be overloaded by chid classes. In your overloaded version you should put all of the registerSubsciption

Reimplemented from RobotBrainComponent.

Definition at line 117 of file Beobot2_GistSalLocalizerMaster.C.

References RobotBrainComponent::registerPublisher(), and RobotBrainComponent::registerSubscription().

void Beobot2_GistSalLocalizerMasterI::saveLocalizerResults ( )

save the localizer results

Definition at line 976 of file Beobot2_GistSalLocalizerMaster.C.

References sformat().

void Beobot2_GistSalLocalizerMasterI::segmentUpdateBelief ( )

update belief using the segment prediction

Definition at line 1110 of file Beobot2_GistSalLocalizerMaster.C.

void Beobot2_GistSalLocalizerMasterI::setEnvironment ( rutz::shared_ptr< Environment > env )

set the environment - has to be done