Base class for motion Captures. More...

#include <core/capture/capture_motion.h>

Inheritance diagram for wolf::CaptureMotion:

Public Member Functions
	CaptureMotion (const std::string &_type, const TimeStamp &_ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXd &_data, CaptureBasePtr _capture_origin_ptr, const TypeComposite &_state_types={}, const VectorComposite &_state_vectors={}, const PriorComposite &_state_priors={})

	CaptureMotion (const std::string &_type, const TimeStamp &_ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXd &_data, const Eigen::MatrixXd &_data_cov, CaptureBasePtr _capture_origin_ptr, const TypeComposite &_state_types={}, const VectorComposite &_state_vectors={}, const PriorComposite &_state_priors={})

	~CaptureMotion () override

bool	isMotion () const override
	Is a motion if there is motion detected. More...

const Eigen::VectorXd &	getData () const

const Eigen::MatrixXd &	getDataCovariance () const

void	setData (const Eigen::VectorXd &_data)

void	setDataCovariance (const Eigen::MatrixXd &_data_cov)

MotionBuffer &	getBuffer ()

const MotionBuffer &	getBuffer () const

Eigen::VectorXd	getCalibrationPreint () const

void	setCalibrationPreint (const Eigen::VectorXd &_calib_preint)

Eigen::MatrixXd	getJacobianCalib () const

Eigen::MatrixXd	getJacobianCalib (const TimeStamp &_ts) const

Eigen::VectorXd	getDeltaPreint () const

Eigen::VectorXd	getDeltaPreint (const TimeStamp &_ts) const

Eigen::MatrixXd	getDeltaPreintCov () const

Eigen::MatrixXd	getDeltaPreintCov (const TimeStamp &_ts) const

CaptureBasePtr	getOriginCapture ()

CaptureBaseConstPtr	getOriginCapture () const

void	setOriginCapture (CaptureBasePtr _capture_origin_ptr)

bool	containsTimeStamp (const TimeStamp &_ts, double _time_tolerance) const

void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const override
	Print the header information of the capture. More...

Public Member Functions inherited from 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. 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 ()

Additional Inherited Members
Static Public Member Functions inherited from wolf::CaptureBase
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 inherited from wolf::CaptureBase
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 inherited from wolf::CaptureBase
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...

Detailed Description

Base class for motion Captures.

This class implements Captures for sensors integrating motion.

The raw data of this type of captures is required to be in the form of a vector --> see attribute data_.

It contains a MotionBuffer buffer of Motion pre-integrated motions that is being filled by the motion processors (deriving from ProcessorMotion) --> See Motion, MotionBuffer, and ProcessorMotion.

This buffer contains the integrated motion:

since the last key-Frame
until the frame of this capture.

Once a keyframe is generated, this buffer is frozen and kept in the Capture for eventual later uses. It is then used to compute the factor that links the Frame of this capture to the previous key-frame in the Trajectory.

Constructor & Destructor Documentation

◆ CaptureMotion() [1/2]

wolf::CaptureMotion::CaptureMotion	(	const std::string &	_type,
		const TimeStamp &	_ts,
		SensorBasePtr	_sensor_ptr,
		const Eigen::VectorXd &	_data,
		CaptureBasePtr	_capture_origin_ptr,
		const TypeComposite &	_state_types = `{}`,
		const VectorComposite &	_state_vectors = `{}`,
		const PriorComposite &	_state_priors = `{}`
	)

◆ CaptureMotion() [2/2]

wolf::CaptureMotion::CaptureMotion	(	const std::string &	_type,
		const TimeStamp &	_ts,
		SensorBasePtr	_sensor_ptr,
		const Eigen::VectorXd &	_data,
		const Eigen::MatrixXd &	_data_cov,
		CaptureBasePtr	_capture_origin_ptr,
		const TypeComposite &	_state_types = `{}`,
		const VectorComposite &	_state_vectors = `{}`,
		const PriorComposite &	_state_priors = `{}`
	)

◆ ~CaptureMotion()

wolf::CaptureMotion::~CaptureMotion ( )

override

Member Function Documentation

◆ containsTimeStamp()

bool wolf::CaptureMotion::containsTimeStamp	(	const TimeStamp &	_ts,
		double	_time_tolerance
	)		const

◆ getBuffer() [1/2]

MotionBuffer & wolf::CaptureMotion::getBuffer ( )

inline

◆ getBuffer() [2/2]

const MotionBuffer & wolf::CaptureMotion::getBuffer ( ) const

inline

◆ getCalibrationPreint()

Eigen::VectorXd wolf::CaptureMotion::getCalibrationPreint ( ) const

inline

◆ getData()

const Eigen::VectorXd & wolf::CaptureMotion::getData ( ) const

inline

◆ getDataCovariance()

const Eigen::MatrixXd & wolf::CaptureMotion::getDataCovariance ( ) const

inline

◆ getDeltaPreint() [1/2]

Eigen::VectorXd wolf::CaptureMotion::getDeltaPreint ( ) const

inline

◆ getDeltaPreint() [2/2]

Eigen::VectorXd wolf::CaptureMotion::getDeltaPreint ( const TimeStamp & _ts ) const

inline

◆ getDeltaPreintCov() [1/2]

Eigen::MatrixXd wolf::CaptureMotion::getDeltaPreintCov ( ) const

inline

◆ getDeltaPreintCov() [2/2]

Eigen::MatrixXd wolf::CaptureMotion::getDeltaPreintCov ( const TimeStamp & _ts ) const

inline

◆ getJacobianCalib() [1/2]

Eigen::MatrixXd wolf::CaptureMotion::getJacobianCalib ( ) const

inline

◆ getJacobianCalib() [2/2]

Eigen::MatrixXd wolf::CaptureMotion::getJacobianCalib ( const TimeStamp & _ts ) const

inline

◆ getOriginCapture() [1/2]

wolf::CaptureBasePtr wolf::CaptureMotion::getOriginCapture ( )

inline

◆ getOriginCapture() [2/2]

wolf::CaptureBaseConstPtr wolf::CaptureMotion::getOriginCapture ( ) const

inline

◆ isMotion()

bool wolf::CaptureMotion::isMotion ( ) const

inlineoverridevirtual

Is a motion if there is motion detected.

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

Reimplemented from wolf::CaptureBase.

◆ printHeader()

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

overridevirtual

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 from wolf::CaptureBase.

◆ setCalibrationPreint()

void wolf::CaptureMotion::setCalibrationPreint ( const Eigen::VectorXd & _calib_preint )

inline

◆ setData()

void wolf::CaptureMotion::setData ( const Eigen::VectorXd & _data )

inline

◆ setDataCovariance()

void wolf::CaptureMotion::setDataCovariance ( const Eigen::MatrixXd & _data_cov )

inline

◆ setOriginCapture()

void wolf::CaptureMotion::setOriginCapture ( CaptureBasePtr _capture_origin_ptr )

inline

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

include/core/capture/capture_motion.h
src/capture/capture_motion.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CaptureMotion() [1/2]

◆ CaptureMotion() [2/2]

◆ ~CaptureMotion()

Member Function Documentation

◆ containsTimeStamp()

◆ getBuffer() [1/2]

◆ getBuffer() [2/2]

◆ getCalibrationPreint()

◆ getData()

◆ getDataCovariance()

◆ getDeltaPreint() [1/2]

◆ getDeltaPreint() [2/2]

◆ getDeltaPreintCov() [1/2]

◆ getDeltaPreintCov() [2/2]

◆ getJacobianCalib() [1/2]

◆ getJacobianCalib() [2/2]

◆ getOriginCapture() [1/2]

◆ getOriginCapture() [2/2]

◆ isMotion()

◆ printHeader()

◆ setCalibrationPreint()

◆ setData()

◆ setDataCovariance()

◆ setOriginCapture()