Beobot2_GistSalLocalizerMasterI Class Reference

Inheritance diagram for Beobot2_GistSalLocalizerMasterI:
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Collaboration diagram for Beobot2_GistSalLocalizerMasterI:
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List of all members.

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< HistogramgetSegmentBeliefHistogram ()
 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 
)
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

from its environment: topological map

from its environment: visual landmark database

Definition at line 612 of file Beobot2_GistSalLocalizerMaster.C.

void Beobot2_GistSalLocalizerMasterI::setLocation (  ) 

set the most likely location

Definition at line 1419 of file Beobot2_GistSalLocalizerMaster.C.

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

Referenced by updateBelief().

void Beobot2_GistSalLocalizerMasterI::start1 (  )  [virtual]

Get started. See ModelComponent.

Reimplemented from ModelComponent.

Definition at line 103 of file Beobot2_GistSalLocalizerMaster.C.

References rutz::shared_ptr< T >::reset().

void Beobot2_GistSalLocalizerMasterI::updateBelief (  ) 

update belief using the input just processed update our likely location

Definition at line 1061 of file Beobot2_GistSalLocalizerMaster.C.

References setLocation().

void Beobot2_GistSalLocalizerMasterI::updateMessage ( const RobotSimEvents::EventMessagePtr &  eMsg,
const Ice::Current &   
) [virtual]

The documentation for this class was generated from the following files:
Generated on Sun May 8 08:43:07 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3