MipResources::OfflineUav Class Reference
[Offliner Task]

Class to get all data from an offline UAV quadrotor. More...

#include <OfflineUav.h>

Inheritance diagram for MipResources::OfflineUav:

List of all members.

Public Member Functions
	OfflineUav ()
	Default constructor.
	OfflineUav (const string &id, const string &fn, const string &timeF, const string &cof, const string &sf, const string &gttf, const string &gtf, const string &vf)
	Complete constructor.
string	getObjectName () const
	Gets the name of the object.
bool	getMyTime (Time &instant, int &index)
	Check if the given time in input is close to a time stored in this class.
Orientation3D	getMyAttitude (const int &index) const
	Get the current attitude of the UAV.
Decimal	getMyRoll (const int &index) const
	Get the current attitude of the UAV.
Decimal	getMyPitch (const int &index) const
	Get the current attitude of the UAV.
Decimal	getMyYaw (const int &index) const
	Get the current attitude of the UAV.
Velocity3DArma	getMyLinearVelocity (const int &index) const
	Get the linear velocity provided by an optic flow (as example).
Velocity3DArma	getMyAngularVelocity (const int &index) const
	Get the angular velocity provided by an optic flow (as example).
Decimal	getMySonar (const int &index) const
	Get the measurement given by the sonar.
vector< Position2DArma >	getMyObs (const int &index) const
	Get the measurement provided by a camera on its own image plane.
bool	getMyGroundTruth (Time &instant, Pose3DArma &myPose, int &index)
	Get the actual ground truth for the UAV.
Decimal	getMyStartingTime () const
	Get the starting time of this class (the maximum time between the starting time of each mandatory file).

---

Detailed Description

Class to get all data from an offline UAV quadrotor.

Author:

Marco Cognetti

---

Constructor & Destructor Documentation

MipResources::OfflineUav::OfflineUav

(

)

Default constructor.

MipResources::OfflineUav::OfflineUav	(	const string &	id,
		const string &	fn,
		const string &	timeF,
		const string &	cof,
		const string &	sf,
		const string &	gttf,
		const string &	gtf,
		const string &	vf
	)

Complete constructor.

---

Member Function Documentation

string MipResources::OfflineUav::getObjectName

(

)

const [inline, virtual]

Gets the name of the object.

Implements MIPObject.

bool MipResources::OfflineUav::getMyTime	(	Time &	instant,
		int &	index
	)

Check if the given time in input is close to a time stored in this class.

Parameters:

[in]	&instant	Time of the requested data
[out]	&index	Index of the vector associated with time

Returns:

True if a valid time is retrieved; false otherwise Since there is only one time (all measurements are syncronized outside this class) the get methods for all other structures (except for GT) are given with the index found here

Orientation3D MipResources::OfflineUav::getMyAttitude

(

const int &

index

)

const

Get the current attitude of the UAV.

Parameters:

[in]

index

Index of the vector

Returns:

Orientation3D representing the attitude of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Decimal MipResources::OfflineUav::getMyRoll

(

const int &

index

)

const

Get the current attitude of the UAV.

Parameters:

[in]

index

Index of the vector

Returns:

Decimal representing the roll of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Decimal MipResources::OfflineUav::getMyPitch

(

const int &

index

)

const

Get the current attitude of the UAV.

Parameters:

[in]

index

Index of the vector

Returns:

Decimal representing the pitch of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Decimal MipResources::OfflineUav::getMyYaw

(

const int &

index

)

const

Get the current attitude of the UAV.

Parameters:

[in]

index

Index of the vector

Returns:

Decimal representing the yaw of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Velocity3DArma MipResources::OfflineUav::getMyLinearVelocity

(

const int &

index

)

const

Get the linear velocity provided by an optic flow (as example).

Parameters:

[in]

index

Index of the vector

Returns:

Linear velocity of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Velocity3DArma MipResources::OfflineUav::getMyAngularVelocity

(

const int &

index

)

const

Get the angular velocity provided by an optic flow (as example).

Parameters:

[in]

index

Index of the vector

Returns:

Angular velocity of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

Decimal MipResources::OfflineUav::getMySonar

(

const int &

index

)

const

Get the measurement given by the sonar.

Parameters:

[in]

index

Index of the vector

Returns:

Angular velocity of the UAV

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

vector< Position2DArma > MipResources::OfflineUav::getMyObs

(

const int &

index

)

const

Get the measurement provided by a camera on its own image plane.

Parameters:

[in]

index

Index of the vector

Returns:

Vector of image plane points representing the mobile robots (there might be false positives)

Note:

This method assumes that a valid index is obtained (check getTime method of this class)

bool MipResources::OfflineUav::getMyGroundTruth	(	Time &	instant,
		Pose3DArma &	myPose,
		int &	index
	)

Get the actual ground truth for the UAV.

Decimal MipResources::OfflineUav::getMyStartingTime

(

)

const

Get the starting time of this class (the maximum time between the starting time of each mandatory file).

Returns:

Starting time of UAV

---

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

• resources/Uav/OfflineUav.h
• resources/Uav/OfflineUav.cpp