MipTasks::OfflinerTaskSharedMem Class Reference
[Offliner Task]

Example of the use of the shared memory for a task. More...

#include <OfflinerTask.h>

Inheritance diagram for MipTasks::OfflinerTaskSharedMem:

List of all members.

Public Member Functions
void	setTime (Time &t)
	Sets the time of the simulation.
void	setMyProtrusions (PosiFeatures &protrusions, MotionModuleTState &protrusionsTState)
	Sets the protrusions and the TState of the time in which they are extracted.
void	setMyCamObs (vector< Angle > &camObs, MotionModuleTState &camObsTState)
	Sets the cameraObservation and the TState of the time in which they are extracted.
void	setGroundTruthMobRobQuad (const Decimal &roll, const Decimal &pitch, const PosiFeatures3DTimeArma &pos, const Roto3DArma *rotGT, vector< int > &ids)
	Transform the ground truth in horizontal and set the vertical height.
void	setGroundTruthMobRobQuad (const map< int, Pose > &gtPose)
	Set the ground truth in shared memory.
void	initSharedMem ()
	Example of init function for the shared memory.
void	doMloc ()
void	setMyGaussianMixture (string &gm)
	Sets the gaussian mixture.
void	setMyControlInput (MRControlInputs &ci)
	Sets my control input.
void	setMyAttitude (const Decimal &ro, const Decimal &pit)
	Sets the attitude of the fake UAV.
void	setMyAttitude (const Angle &ro, const Angle &pit)
	Sets the attitude of the fake UAV.
void	setMyYaw (const Decimal &y)
	Sets the yaw of the fake UAV.
void	setMyYaw (const Angle &y)
	Sets the yaw of the fake UAV.
void	setMyVelocity (const Decimal &lvx, const Decimal &lvy, const Decimal &lvz, const Decimal &avx, const Decimal &avy, const Decimal &avz, const Time &time)
	Sets the velocity of the fake UAV.
void	setMyVelocity (const Decimal &lvx, const Decimal &lvy, const Decimal &lvz, const Decimal &avx, const Decimal &avy, const Decimal &avz)
	Sets the velocity of the fake UAV.
void	setMyVelocity (const Velocity3DArma &lv, const Velocity3DArma &av)
	Sets the velocity of the fake UAV.
void	setMyVelocity (const Velocity3DArma &lv, const Velocity3DArma &av, const Time &time)
	Sets the velocity of the fake UAV.
void	setMy3DObs (const vector< Position2DArma > &obs)
void	setMy3DObs (PosiFeatures3DTimeArma &camObs, const Roto3DArma &aMat, const Position3DArma &bVec, const Decimal &width, const Decimal &height)
	Sets the cameraObservation and the TState of the time in which they are extracted.
void	setMy3DObs (PosiFeatures3DTimeArma &camObs)
	Sets the cameraObservation and the TState of the time in which they are extracted.
void	setMyHeight (const Decimal &hei)
	Sets the height from sonar.

---

Detailed Description

Example of the use of the shared memory for a task.

Author:

Paolo Stegagno & Marco Cognetti

---

Member Function Documentation

void MipTasks::OfflinerTaskSharedMem::setTime

(

Time &

t

)

Sets the time of the simulation.

Parameters:

[in]

&t

New time.

void MipTasks::OfflinerTaskSharedMem::setMyProtrusions	(	PosiFeatures &	protrusions,
		MotionModuleTState &	protrusionsTState
	)

Sets the protrusions and the TState of the time in which they are extracted.

Parameters:

[in]	&posifeatures	New protrusion vector.
[in]	&posifeaturesTState	MotionModuleTState of the new protrusion vector.

void MipTasks::OfflinerTaskSharedMem::setMyCamObs	(	vector< Angle > &	camObs,
		MotionModuleTState &	camObsTState
	)

Sets the cameraObservation and the TState of the time in which they are extracted.

Parameters:

[in]	&posifeatures	New protrusion vector.
[in]	&posifeaturesTState	MotionModuleTState of the new protrusion vector.

void MipTasks::OfflinerTaskSharedMem::setGroundTruthMobRobQuad	(	const Decimal &	roll,
		const Decimal &	pitch,
		const PosiFeatures3DTimeArma &	pos,
		const Roto3DArma *	rotGT,
		vector< int > &	ids
	)

Transform the ground truth in horizontal and set the vertical height.

Parameters:

[in]	&roll	Roll
[in]	&pitch	Pitch
[in]	&pos	Position in 3D to transform
[in]	&id	Ids of the measurements

Note:

Assumption: the measurements in pos and the id in ids are already syncronized

void MipTasks::OfflinerTaskSharedMem::setGroundTruthMobRobQuad

(

const map< int, Pose > &

gtPose

)

Set the ground truth in shared memory.

Parameters:

[in]

&gtPose

Map representing the ground truth pose

void MipTasks::OfflinerTaskSharedMem::initSharedMem

(

)

Example of init function for the shared memory.

Note:

To be called before any other function of the class.

void MipTasks::OfflinerTaskSharedMem::doMloc

(

)

[inline]

void MipTasks::OfflinerTaskSharedMem::setMyGaussianMixture

(

string &

gm

)

Sets the gaussian mixture.

Parameters:

[in]

&gm

formatted string

void MipTasks::OfflinerTaskSharedMem::setMyControlInput

(

MRControlInputs &

ci

)

Sets my control input.

Parameters:

[in]

&ro

formatted string

void MipTasks::OfflinerTaskSharedMem::setMyAttitude	(	const Decimal &	ro,
		const Decimal &	pit
	)

Sets the attitude of the fake UAV.

Parameters:

[in]	&ro	Roll
[in]	&pit	Pitch

void MipTasks::OfflinerTaskSharedMem::setMyAttitude	(	const Angle &	ro,
		const Angle &	pit
	)

Sets the attitude of the fake UAV.

Parameters:

[in]	&ro	Roll
[in]	&pit	Pitch

void MipTasks::OfflinerTaskSharedMem::setMyYaw

(

const Decimal &

y

)

Sets the yaw of the fake UAV.

Parameters:

[in]

&y

Yaw

void MipTasks::OfflinerTaskSharedMem::setMyYaw

(

const Angle &

y

)

Sets the yaw of the fake UAV.

Parameters:

[in]

&y

Yaw

void MipTasks::OfflinerTaskSharedMem::setMyVelocity	(	const Decimal &	lvx,
		const Decimal &	lvy,
		const Decimal &	lvz,
		const Decimal &	avx,
		const Decimal &	avy,
		const Decimal &	avz,
		const Time &	time
	)

Sets the velocity of the fake UAV.

Parameters:

[in]	&lvx	Linear velocity along x
[in]	&lvy	Linear velocity along y
[in]	&lvz	Linear velocity along z
[in]	&avx	Angular velocity along x
[in]	&avy	Angular velocity along y
[in]	&avz	Angular velocity along z
[in]	&time	Actual time

void MipTasks::OfflinerTaskSharedMem::setMyVelocity	(	const Decimal &	lvx,
		const Decimal &	lvy,
		const Decimal &	lvz,
		const Decimal &	avx,
		const Decimal &	avy,
		const Decimal &	avz
	)

Sets the velocity of the fake UAV.

Parameters:

[in]	&lvx	Linear velocity along x
[in]	&lvy	Linear velocity along y
[in]	&lvz	Linear velocity along z
[in]	&avx	Angular velocity along x
[in]	&avy	Angular velocity along y
[in]	&avz	Angular velocity along z

void MipTasks::OfflinerTaskSharedMem::setMyVelocity	(	const Velocity3DArma &	lv,
		const Velocity3DArma &	av
	)

Sets the velocity of the fake UAV.

Parameters:

[in]	&lv	Linear velocity
[in]	&av	Angular velocity

void MipTasks::OfflinerTaskSharedMem::setMyVelocity	(	const Velocity3DArma &	lv,
		const Velocity3DArma &	av,
		const Time &	time
	)

Sets the velocity of the fake UAV.

Parameters:

[in]	&lv	Linear velocity
[in]	&av	Angular velocity
[in]	&time	Actual time

void MipTasks::OfflinerTaskSharedMem::setMy3DObs

(

const vector< Position2DArma > &

obs

)

void MipTasks::OfflinerTaskSharedMem::setMy3DObs	(	PosiFeatures3DTimeArma &	camObs,
		const Roto3DArma &	aMat,
		const Position3DArma &	bVec,
		const Decimal &	width,
		const Decimal &	height
	)

Sets the cameraObservation and the TState of the time in which they are extracted.

Parameters:

[in]	&camObs	Positions from camera
[in]	&aMat	Linear trasformation coefficient from metric to pixels infos
[in]	&bVec	Constant trasformation coefficient from metric to pixels infos
[in]	&width	Width of the camera
[in]	&height	Height of the camera

Note:

The difference with the other setMy3DObs method is that this method transform also the measurements in pixels

void MipTasks::OfflinerTaskSharedMem::setMy3DObs

(

PosiFeatures3DTimeArma &

camObs

)

Sets the cameraObservation and the TState of the time in which they are extracted.

Parameters:

[in]

&camObs

Positions from camera

Note:

The difference with the other setMy3DObs method is that this method does not transform the measurements in pixels

void MipTasks::OfflinerTaskSharedMem::setMyHeight

(

const Decimal &

hei

)

Sets the height from sonar.

Parameters:

[in]

&hei

Height to set

---

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

• tasks/OfflinerTask/OfflinerTask.h
• tasks/OfflinerTask/OfflinerTask.cpp