MipTasks::PHDCamFilterTaskSharedMem Class Reference
[PHDFilter Task]

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

#include <PHDCamFilterTask.h>

Inheritance diagram for MipTasks::PHDCamFilterTaskSharedMem:

List of all members.

Public Member Functions
void	initSharedMem ()
	PHDCamFilter of init function for the shared memory.
PosiFeatures	getMyProtrusions (MotionModuleTState &state)
	Gets the PosiFeatures of the robot.
void	getMyProtrusionsCam (vector< Position2DArma > &pos)
	Gets the vector of observation in Position2DArma of the robot.
void	getMyProtrusionsCamWithNoise (vector< Position2DArma > &pos, const Decimal &sigmaDist, const Decimal &noiseDist, const Decimal &w, const Decimal h)
	Gets the vector of observation in Position2DArma of the robot.
void	getMyControlInput (Decimal &lvx, Decimal &lvy, Decimal &lvz, Decimal &avx, Decimal &avy, Decimal &avz, Time &ct)
	Gets the control input of the robot.
void	getMyControlInput (Velocity3DArma &lv, Velocity3DArma &av, Time &ct)
	Gets the control input of the robot.
void	getMyControlInput (Odometry3DTimeArma &odoTime)
	Gets the control input of the robot.
void	getMyAttitude (Angle &roll, Angle &pitch)
	Get the attitude of the quadrotor.
void	getMyYaw (Angle &y)
	Get the attitude of the quadrotor.
void	getMyHeight (Decimal &height)
	Get the attitude of the quadrotor.
void	getGT (map< int, Pose > &gtPos)
	Get the ground truth in quadrotor reference frame of plate measurement (output of the PHD filter).
bool	doMloc ()
	Gets the _doMloc bool.
void	unsetDoMloc ()
	Unsets the _doMloc bool.
bool	printFormation ()
	Gets the _printFormation bool.
bool	printFormationDetails ()
	Gets the _printFormationDetails bool.

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Detailed Description

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

Author:

Marco Cognetti

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Member Function Documentation

void MipTasks::PHDCamFilterTaskSharedMem::initSharedMem

(

)

PHDCamFilter of init function for the shared memory.

Note:

To be called before any other function of the class.

PosiFeatures MipTasks::PHDCamFilterTaskSharedMem::getMyProtrusions

(

MotionModuleTState &

state

)

Gets the PosiFeatures of the robot.

Parameters:

[out]

&state

Where the TState of the protrusions is set.

Returns:

A vector of protrusions.

void MipTasks::PHDCamFilterTaskSharedMem::getMyProtrusionsCam

(

vector< Position2DArma > &

pos

)

Gets the vector of observation in Position2DArma of the robot.

Parameters:

[in]

&pos

A vector of protrusions to be filled.

void MipTasks::PHDCamFilterTaskSharedMem::getMyProtrusionsCamWithNoise	(	vector< Position2DArma > &	pos,
		const Decimal &	sigmaDist,
		const Decimal &	noiseDist,
		const Decimal &	w,
		const Decimal	h
	)

Gets the vector of observation in Position2DArma of the robot.

Parameters:

[in]	&pos	A vector of protrusions to be filled.
[in]	&sigmaDist	Std deviation of the noise
[in]	&noiseDist	Amplitude of the noise (range)
[in]	&w	Width of the camera
[in]	&h	Height of the camera

Note:

The width and the height have to be added since the points are in [-1 1] and the initial condition for noise are expressed in pixels

void MipTasks::PHDCamFilterTaskSharedMem::getMyControlInput	(	Decimal &	lvx,
		Decimal &	lvy,
		Decimal &	lvz,
		Decimal &	avx,
		Decimal &	avy,
		Decimal &	avz,
		Time &	ct
	)

Gets the control input of the robot.

Parameters:

[out]	&lvx	Put here the desired linear velocity along x axis
[out]	&lvy	Put here the desired linear velocity along y axis
[out]	&lvz	Put here the desired linear velocity along z axis
[out]	&avx	Put here the desired angular velocity along x axis
[out]	&avy	Put here the desired angular velocity along y axis
[out]	&avz	Put here the desired angular velocity along z axis
[out]	&ct	Time instant of the application of the control input

void MipTasks::PHDCamFilterTaskSharedMem::getMyControlInput	(	Velocity3DArma &	lv,
		Velocity3DArma &	av,
		Time &	ct
	)

Gets the control input of the robot.

Parameters:

[out]	&lv	Put here the desired linear velocity
[out]	&av	Put here the desired angular velocity
[out]	&ct	Time instant of the application of the control input

void MipTasks::PHDCamFilterTaskSharedMem::getMyControlInput

(

Odometry3DTimeArma &

odoTime

)

Gets the control input of the robot.

Parameters:

[out]

&lv

Put here the desired odometry with time

void MipTasks::PHDCamFilterTaskSharedMem::getMyAttitude	(	Angle &	roll,
		Angle &	pitch
	)

Get the attitude of the quadrotor.

Parameters:

[out]	&roll	Put here the desired roll
[out]	&pitch	Put here the desired pitch

void MipTasks::PHDCamFilterTaskSharedMem::getMyYaw

(

Angle &

y

)

Get the attitude of the quadrotor.

Parameters:

[out]

&y

Put here the desired yaw

void MipTasks::PHDCamFilterTaskSharedMem::getMyHeight

(

Decimal &

height

)

Get the attitude of the quadrotor.

Parameters:

[out]

&height

Put here the desired height

void MipTasks::PHDCamFilterTaskSharedMem::getGT

(

map< int, Pose > &

gtPos

)

Get the ground truth in quadrotor reference frame of plate measurement (output of the PHD filter).

Parameters:

[in]

&gtPos

Pose mapping representing the actual ground truth

bool MipTasks::PHDCamFilterTaskSharedMem::doMloc

(

)

Gets the _doMloc bool.

Returns:

true if the mutual localization has to be performed, false otherwise.

void MipTasks::PHDCamFilterTaskSharedMem::unsetDoMloc

(

)

Unsets the _doMloc bool.

bool MipTasks::PHDCamFilterTaskSharedMem::printFormation

(

)

Gets the _printFormation bool.

Returns:

true if requested to print the formation, false otherwise.

bool MipTasks::PHDCamFilterTaskSharedMem::printFormationDetails

(

)

Gets the _printFormationDetails bool.

Returns:

true if requested to print all estimates, false otherwise.

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

• tasks/PHDFilterTask/PHDCamFilterTask.h
• tasks/PHDFilterTask/PHDCamFilterTask.cpp