wolf::CaptureBase Class Reference

#include <core/capture/capture_base.h>

Inheritance diagram for wolf::CaptureBase:

Public Member Functions
	CaptureBase (const std::string &_type, const TimeStamp &_ts, SensorBasePtr _sensor_ptr=nullptr, const TypeComposite &_state_types={}, const VectorComposite &_state_vectors={}, const PriorComposite &_state_priors={})
	Constructor. More...
	~CaptureBase () override=default
void	remove (bool viral_remove_parent_without_children=false) override
	Remove the capture. More...
bool	hasChildren () const override
	Check if the capture has any children. More...
virtual FactorBasePtr	emplaceDriftFactor (CaptureBasePtr _capture_origin, char _key, bool _apply_loss_function)
	Emplace a FactorBlockDifference with zero difference between the state _key of this capture and _capture_origin. More...
virtual bool	isMotion () const
	Is a motion if there is motion detected. More...
bool	process ()
	Process the capture. More...
unsigned int	id () const override
TimeStamp	getTimeStamp () const
void	setTimeStamp (const TimeStamp &_ts)
void	setTimeStampToNow ()
FrameBaseConstPtr	getFrame () const
FrameBasePtr	getFrame ()
FeatureBaseConstPtrList	getFeatureList () const
FeatureBasePtrList	getFeatureList ()
bool	hasFeature (const FeatureBaseConstPtr &_feature) const
FactorBaseConstPtrList	getFactorList () const
FactorBasePtrList	getFactorList ()
void	getFactorList (FactorBaseConstPtrList &_fac_list) const
void	getFactorList (FactorBasePtrList &_fac_list)
SensorBaseConstPtr	getSensor () const
SensorBasePtr	getSensor ()
virtual void	setSensor (const SensorBasePtr sensor_ptr)
StateBlockConstPtr	getStateBlock (const char &_key) const override
StateBlockPtr	getStateBlock (const char &_key) override
StateBlockConstPtr	getSensorP () const
StateBlockPtr	getSensorP ()
StateBlockConstPtr	getSensorO () const
StateBlockPtr	getSensorO ()
StateBlockConstPtr	getSensorIntrinsic () const
StateBlockPtr	getSensorIntrinsic ()
void	fix () override
void	unfix () override
void	link (FrameBasePtr _frm_ptr)
	Link the capture to a frame. More...
virtual void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const
	Print the header information of the capture. More...
void	print (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream=std::cout, std::string _tabs="") const
	Print the capture details. More...
virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const
	Perform a local check on the capture. More...
bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const
	Check the capture. More...
CaptureBasePtr	shared_from_this_capture ()
CaptureBaseConstPtr	shared_from_this_capture () const
Public Member Functions inherited from wolf::NodeStateBlocks
	NodeStateBlocks (const std::string &_category, const std::string &_type, const TypeComposite &_state_types, const VectorComposite &_state_vectors, const PriorComposite &_state_priors)
	Constructor. More...
virtual	~NodeStateBlocks ()
virtual YAML::Node	toYaml () const
StateKeys	getKeys () const
TypeComposite	getStateTypes () const
bool	has (const char &_sb_key) const
bool	has (const std::string &_keys) const
virtual unsigned int	id () const =0
std::map< char, StateBlockConstPtr >	getStateBlockMap () const
std::map< char, StateBlockPtr >	getStateBlockMap ()
std::vector< StateBlockConstPtr >	getStateBlockVec () const
std::vector< StateBlockPtr >	getStateBlockVec ()
StateBlockConstPtr	getP () const
StateBlockConstPtr	getO () const
StateBlockPtr	getP ()
StateBlockPtr	getO ()
virtual void	fix ()
virtual void	unfix ()
virtual bool	isFixed () const
StateBlockPtr	emplaceStateBlock (const char key, const std::string &_type, const Eigen::VectorXd &_vector, const bool &_fixed)
	Emplace a state block. More...
StateBlockPtr	emplaceStateBlockZero (const char key, const std::string &_type, const bool &_fixed)
	Emplace a state block with zero state. More...
bool	hasStateBlock (const StateBlockConstPtr &_sb) const
bool	setStateBlock (const char _sb_key, const StateBlockPtr &_sb)
bool	stateBlockKey (const StateBlockConstPtr &_sb, char &_key) const
virtual StateBlockConstPtr	getStateBlock (const char &_sb_key) const
virtual StateBlockPtr	getStateBlock (const char &_sb_key)
void	setProblem (ProblemPtr _problem) override
virtual void	remove (bool viral_remove_parent_without_children=false)
bool	hasChildren () const override
void	emplaceFactorStateBlock (const char &_key, const Eigen::VectorXd &_x, const Eigen::MatrixXd &_cov, unsigned int _start_idx=0)
	Add an absolute factor to a parameter. More...
void	emplacePriors ()
FactorBaseConstPtrSet	getFactoredBySet () const
FactorBasePtrSet	getFactoredBySet ()
void	getFactoredBySet (FactorBaseConstPtrSet &_fac_set) const
void	getFactoredBySet (FactorBasePtrSet &_fac_set)
FactorBaseConstPtrSet	getSensoryFactorSet () const
FactorBasePtrSet	getSensoryFactorSet ()
std::map< char, FactorBaseConstPtr >	getPriorFactorMap () const
std::map< char, FactorBasePtr >	getPriorFactorMap ()
FactorBaseConstPtr	getPriorFactor (char) const
FactorBasePtr	getPriorFactor (char)
FactorBaseConstPtrList	getFactorsOf (ProcessorBaseConstPtr _processor_ptr, const std::string &type="") const
FactorBasePtrList	getFactorsOf (ProcessorBasePtr _processor_ptr, const std::string &type="")
bool	hasFactor (FactorBaseConstPtr _fac) const
VectorComposite	getState (const StateKeys &_keys="") const
void	setState (const VectorComposite &_state, const bool _notify=true)
void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const std::list< SizeEigen > &_sizes, const bool _notify=true)
void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const bool _notify=true)
void	setState (const StateKeys &_keys, const std::list< Eigen::VectorXd > &_vectors, const bool _notify=true)
Eigen::VectorXd	getStateVector (const StateKeys &_keys) const
unsigned int	getSize (const StateKeys &_keys="") const
unsigned int	getLocalSize (const StateKeys &_keys="") const
bool	getCovariance (const StateKeys &_keys, Eigen::MatrixXd &_cov) const
void	perturb (double amplitude=0.01)
	perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ] More...
bool	isCapture () const
bool	isFrame () const
bool	isLandmark () const
bool	isSensor () const
Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")
virtual	~NodeBase ()=default
unsigned int	nodeId () const
std::string	getCategory () const
std::string	getType () const
std::string	getName () const
bool	isRemoving () const
virtual bool	hasChildren () const =0
void	setType (const std::string &_type)
void	setName (const std::string &_name)
ProblemConstPtr	getProblem () const
ProblemPtr	getProblem ()

Static Public Member Functions
template<typename classType , typename... T>
static std::shared_ptr< classType >	emplace (FrameBasePtr _frm_ptr, T &&... all)
	Emplace a new capture of type classType. More...

Protected Member Functions
void	setProblem (ProblemPtr _problem) override final
Protected Member Functions inherited from wolf::NodeStateBlocks
virtual void	removeStateBlock (const char &_sb_key)
void	transform (const VectorComposite &_transformation)
void	printState (bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs) const
CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs) const
virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes
unsigned int	capture_id_
TimeStamp	time_stamp_
	Time stamp. More...
Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_
unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...
std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...
std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...
std::string	node_name_
bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Friends
class	FeatureBase
class	FactorBase
class	FrameBase

Constructor & Destructor Documentation

CaptureBase()

wolf::CaptureBase::CaptureBase	(	const std::string &	_type,
		const TimeStamp &	_ts,
		SensorBasePtr	_sensor_ptr = nullptr,
		const TypeComposite &	_state_types = {},
		const VectorComposite &	_state_vectors = {},
		const PriorComposite &	_state_priors = {}
	)

Constructor.

Parameters

_type	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived type name
_ts	TimeStamp of the capture.
_sensor_ptr	Pointer to the sensor that produced the capture. If unknown: nullptr.
_state_types	Composite of types of the states that the capture can have. Probably to be hardcoded in the derived class constructor.
_state_vectors	Composite of vectors of the states of the capture. A 'StateBlock' for each key in '_state_vectors' will be emplaced (of the type specified in '_state_types'). Not all keys of '_state_types' are required to be specified, but all keys of '_state_vectors' should be in '_state_types'.
_state_priors	Composite of priors (initial_guess, factor or fixed) of the states of the capture. Not all keys of '_state_vectors' are required to be specified, but all keys of '_state_priors' should be in '_state_vectors'.

~CaptureBase()

wolf::CaptureBase::~CaptureBase ( )

overridedefault

Member Function Documentation

check()

bool wolf::CaptureBase::check	(	CheckLog &	_log,
		bool	_verbose,
		std::ostream &	_stream,
		std::string	_tabs = ""
	)		const

Check the capture.

Parameters

_log	The log to store check results.
_verbose	Whether to enable verbose output.
_stream	The output stream to print to.
_tabs	The tabs to use for indentation.

Returns

true if the check is successful, false otherwise

emplace()

template<typename classType , typename... T>

std::shared_ptr< classType > wolf::CaptureBase::emplace ( FrameBasePtr  _frm_ptr, T &&...  all  )

static

Emplace a new capture of type classType.

Parameters

_frm_ptr	Pointer to the frame to link the new capture to.
all	Variadic template arguments to forward to the constructor of classType.

Returns

A shared pointer to the newly created capture.

emplaceDriftFactor()

FactorBasePtr wolf::CaptureBase::emplaceDriftFactor ( CaptureBasePtr  _capture_origin, char  _key, bool  _apply_loss_function  )

virtual

Emplace a FactorBlockDifference with zero difference between the state _key of this capture and _capture_origin.

Parameters

_capture_origin	The origin capture to add the factor drift.
_key	The key of the state to be factored.
_apply_loss_function	Whether to apply a loss function to the factor.

fix()

void wolf::CaptureBase::fix ( )

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

getFactorList() [1/4]

FactorBasePtrList wolf::CaptureBase::getFactorList

(

)

getFactorList() [2/4]

FactorBaseConstPtrList wolf::CaptureBase::getFactorList

(

)

const

getFactorList() [3/4]

void wolf::CaptureBase::getFactorList

(

FactorBaseConstPtrList &

_fac_list

)

const

getFactorList() [4/4]

void wolf::CaptureBase::getFactorList

(

FactorBasePtrList &

_fac_list

)

getFeatureList() [1/2]

FeatureBasePtrList wolf::CaptureBase::getFeatureList ( )

inline

getFeatureList() [2/2]

FeatureBaseConstPtrList wolf::CaptureBase::getFeatureList ( ) const

inline

getFrame() [1/2]

FrameBasePtr wolf::CaptureBase::getFrame ( )

inline

getFrame() [2/2]

FrameBaseConstPtr wolf::CaptureBase::getFrame ( ) const

inline

getSensor() [1/2]

SensorBasePtr wolf::CaptureBase::getSensor ( )

inline

getSensor() [2/2]

SensorBaseConstPtr wolf::CaptureBase::getSensor ( ) const

inline

getSensorIntrinsic() [1/2]

StateBlockPtr wolf::CaptureBase::getSensorIntrinsic ( )

inline

getSensorIntrinsic() [2/2]

StateBlockConstPtr wolf::CaptureBase::getSensorIntrinsic ( ) const

inline

getSensorO() [1/2]

StateBlockPtr wolf::CaptureBase::getSensorO ( )

inline

getSensorO() [2/2]

StateBlockConstPtr wolf::CaptureBase::getSensorO ( ) const

inline

getSensorP() [1/2]

StateBlockPtr wolf::CaptureBase::getSensorP ( )

inline

getSensorP() [2/2]

StateBlockConstPtr wolf::CaptureBase::getSensorP ( ) const

inline

getStateBlock() [1/2]

StateBlockConstPtr wolf::CaptureBase::getStateBlock ( const char &  _key ) const

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

getStateBlock() [2/2]

StateBlockPtr wolf::CaptureBase::getStateBlock ( const char &  _key )

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

getTimeStamp()

TimeStamp wolf::CaptureBase::getTimeStamp ( ) const

inline

hasChildren()

bool wolf::CaptureBase::hasChildren ( ) const

overridevirtual

Check if the capture has any children.

Returns

true if the capture has children, false otherwise

Implements wolf::NodeBase.

hasFeature()

bool wolf::CaptureBase::hasFeature

(

const FeatureBaseConstPtr &

_feature

)

const

id()

unsigned int wolf::CaptureBase::id ( ) const

inlineoverridevirtual

Implements wolf::NodeStateBlocks.

isMotion()

bool wolf::CaptureBase::isMotion ( ) const

inlinevirtual

Is a motion if there is motion detected.

Returns

true if the capture is of type motion, false otherwise.

Reimplemented in wolf::CaptureMotion.

link()

void wolf::CaptureBase::link

(

FrameBasePtr

_frm_ptr

)

Link the capture to a frame.

Parameters

_frm_ptr

Pointer to the frame.

localCheck()

CheckLog wolf::CaptureBase::localCheck ( bool  _verbose, std::ostream &  _stream, std::string  _tabs = ""  ) const

virtual

Perform a local check on the capture.

Parameters

_verbose	Whether to print verbose output.
_stream	The output stream to print to.
_tabs	The tabs to use for indentation.

Returns

A CheckLog object containing the results of the check.

print()

void wolf::CaptureBase::print	(	int	depth,
		bool	factored_by,
		bool	metric,
		bool	state_blocks,
		std::ostream &	stream = std::cout,
		std::string	_tabs = ""
	)		const

Print the capture details.

Parameters

depth	The depth of the print.
factored_by	Whether to include factors in the print.
metric	Whether to include metric information.
state_blocks	Whether to include state blocks.
stream	The output stream to print to.
_tabs	The tabs to use for indentation.

printHeader()

void wolf::CaptureBase::printHeader ( int  depth, bool  factored_by, bool  metric, bool  state_blocks, std::ostream &  stream, std::string  _tabs = ""  ) const

virtual

Print the header information of the capture.

Parameters

depth	The depth of the header.
factored_by	Whether to include factors in the print.
metric	Whether to print metric information.
state_blocks	Whether to print state blocks information.
stream	The output stream to print to.
_tabs	The tabs to use for indentation.

Reimplemented in wolf::CaptureMotion.

process()

bool wolf::CaptureBase::process

(

)

Process the capture.

Returns

true if the process is successful, false otherwise

remove()

void wolf::CaptureBase::remove ( bool  viral_remove_parent_without_children = false )

overridevirtual

Remove the capture.

Parameters

viral_remove_parent_without_children

If true, removes the parent if it has no other children.

Reimplemented from wolf::NodeStateBlocks.

setProblem()

void wolf::CaptureBase::setProblem ( ProblemPtr  _problem )

finaloverrideprotectedvirtual

Reimplemented from wolf::NodeBase.

setSensor()

void wolf::CaptureBase::setSensor ( const SensorBasePtr  sensor_ptr )

inlinevirtual

setTimeStamp()

void wolf::CaptureBase::setTimeStamp ( const TimeStamp &  _ts )

inline

setTimeStampToNow()

void wolf::CaptureBase::setTimeStampToNow ( )

inline

shared_from_this_capture() [1/2]

CaptureBasePtr wolf::CaptureBase::shared_from_this_capture ( )

inline

shared_from_this_capture() [2/2]

CaptureBaseConstPtr wolf::CaptureBase::shared_from_this_capture ( ) const

inline

unfix()

void wolf::CaptureBase::unfix ( )

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

Friends And Related Function Documentation

FactorBase

friend class FactorBase

friend

FeatureBase

friend class FeatureBase

friend

FrameBase

friend class FrameBase

friend

Member Data Documentation

capture_id_

unsigned int wolf::CaptureBase::capture_id_

protected

time_stamp_

TimeStamp wolf::CaptureBase::time_stamp_

protected

Time stamp.

---

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

• include/core/capture/capture_base.h
• src/capture/capture_base.cpp