#include <core/processor/processor_base.h>

Inheritance diagram for wolf::ProcessorBase:

Public Member Functions
void	startCaptureProfiling ()

void	stopCaptureProfiling ()

void	startKFProfiling ()

void	stopKFProfiling ()

virtual void	printProfiling (std::ostream &stream=std::cout) const

	ProcessorBase (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_params)
	constructor More...

	~ProcessorBase () override

virtual void	configure (SensorBasePtr _sensor)=0

virtual void	remove ()

bool	hasChildren () const override

const TypeComposite &	getStateTypes () const

StateKeys	getStateKeys () const

unsigned int	id () const

void	keyFrameCallback (FrameBasePtr _keyframe)
	notify a new keyframe made by another processor More...

void	captureCallback (CaptureBasePtr _capture)
	notify a new capture More...

SensorBaseConstPtr	getSensor () const

SensorBasePtr	getSensor ()

YAML::Node	getParams () const

bool	isMotionProvider () const

bool	applyLossFunction () const

bool	isVotingActive () const

double	getTimeTolerance () const

void	setApplyLossFunction (bool _apply_loss_function)

void	setVotingActive (bool _voting_active)

void	setTimeTolerance (double _time_tolerance)

void	setDebugVerboseLevel (const std::string &_debug_verbose_level)

std::string	getDebugVerboseLevel () const

bool	checkTimeTolerance (const TimeStamp &_ts1, const TimeStamp &_ts2) const

bool	checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp &_ts) const

bool	checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp &_ts) const

bool	checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap) const

virtual void	link (SensorBasePtr) final

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

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

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

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

Protected Member Functions
virtual void	processCapture (CaptureBasePtr)=0
	process an incoming capture More...

virtual void	processKeyFrame (FrameBasePtr _keyframe_ptr)=0
	process an incoming key-frame More...

virtual bool	triggerInCapture (CaptureBasePtr) const =0
	trigger in capture More...

virtual bool	triggerInKeyFrame (FrameBasePtr) const =0
	trigger in key-frame More...

virtual bool	storeKeyFrame (FrameBasePtr)=0
	store key frame More...

virtual bool	storeCapture (CaptureBasePtr)=0
	store capture More...

virtual bool	voteForKeyFrame () const =0
	Vote for KeyFrame generation. More...

virtual bool	permittedKeyFrame () const final

void	setProblem (ProblemPtr) override

void	addTypes (const TypeComposite &)
	add state types More...

virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes
unsigned int	processor_id_

YAML::Node	params_

BufferFrame	buffer_frame_

BufferCapture	buffer_capture_

std::string	debug_verbose_level_

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...

Constructor & Destructor Documentation

◆ ProcessorBase()

wolf::ProcessorBase::ProcessorBase	(	const std::string &	_type,
		const TypeComposite &	_state_types,
		const YAML::Node &	_params
	)

constructor

Parameters

_type	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: type name
_state_types	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: The composite of state types of the frames created or used by this processor
_params	params yaml node

◆ ~ProcessorBase()

wolf::ProcessorBase::~ProcessorBase ( )

override

Member Function Documentation

◆ addTypes()

void wolf::ProcessorBase::addTypes ( const TypeComposite & _state_types )

protected

add state types

This function adds the provided state types to the processor and problem (if set)

◆ applyLossFunction()

bool wolf::ProcessorBase::applyLossFunction ( ) const

inline

◆ captureCallback()

void wolf::ProcessorBase::captureCallback ( CaptureBasePtr _capture )

notify a new capture

It stores the new capture in buffer_capture_ and calls triggerInCapture()

◆ check()

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

◆ checkTimeTolerance() [1/4]

bool wolf::ProcessorBase::checkTimeTolerance	(	const CaptureBasePtr	_cap,
		const TimeStamp &	_ts
	)		const

◆ checkTimeTolerance() [2/4]

bool wolf::ProcessorBase::checkTimeTolerance	(	const FrameBasePtr	_frm,
		const CaptureBasePtr	_cap
	)		const

◆ checkTimeTolerance() [3/4]

bool wolf::ProcessorBase::checkTimeTolerance	(	const FrameBasePtr	_frm,
		const TimeStamp &	_ts
	)		const

◆ checkTimeTolerance() [4/4]

bool wolf::ProcessorBase::checkTimeTolerance	(	const TimeStamp &	_ts1,
		const TimeStamp &	_ts2
	)		const

◆ configure()

virtual void wolf::ProcessorBase::configure ( SensorBasePtr _sensor )

pure virtual

Implemented in wolf::ProcessorDiffDrive, wolf::ProcessorFixedWingModel, wolf::ProcessorLandmarkExternal, wolf::ProcessorLoopClosure, wolf::ProcessorOdom2d, wolf::ProcessorOdom3d, and wolf::ProcessorPose< DIM >.

◆ getDebugVerboseLevel()

std::string wolf::ProcessorBase::getDebugVerboseLevel ( ) const

inline

◆ getParams()

YAML::Node wolf::ProcessorBase::getParams ( ) const

inline

◆ getSensor() [1/2]

SensorBasePtr wolf::ProcessorBase::getSensor ( )

inline

◆ getSensor() [2/2]

SensorBaseConstPtr wolf::ProcessorBase::getSensor ( ) const

inline

◆ getStateKeys()

StateKeys wolf::ProcessorBase::getStateKeys ( ) const

inline

◆ getStateTypes()

const TypeComposite & wolf::ProcessorBase::getStateTypes ( ) const

inline

◆ getTimeTolerance()

double wolf::ProcessorBase::getTimeTolerance ( ) const

inline

◆ hasChildren()

bool wolf::ProcessorBase::hasChildren ( ) const

inlineoverridevirtual

Implements wolf::NodeBase.

◆ id()

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

inline

◆ isMotionProvider()

bool wolf::ProcessorBase::isMotionProvider ( ) const

inline

◆ isVotingActive()

bool wolf::ProcessorBase::isVotingActive ( ) const

inline

◆ keyFrameCallback()

void wolf::ProcessorBase::keyFrameCallback ( FrameBasePtr _keyframe )

notify a new keyframe made by another processor

It stores the new KF in buffer_frame_ and calls triggerInKF()

◆ link()

void wolf::ProcessorBase::link ( SensorBasePtr _sen_ptr )

finalvirtual

◆ localCheck()

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

virtual

◆ permittedKeyFrame()

bool wolf::ProcessorBase::permittedKeyFrame ( ) const

finalprotectedvirtual

◆ print()

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

◆ printHeader()

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

virtual

Reimplemented in wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ printProfiling()

void wolf::ProcessorBase::printProfiling ( std::ostream & stream = std::cout ) const

virtual

Reimplemented in wolf::ProcessorTracker.

◆ processCapture()

virtual void wolf::ProcessorBase::processCapture ( CaptureBasePtr )

protectedpure virtual

process an incoming capture

Each derived processor should implement this function. It will be called if:

A new capture arrived and triggerInCapture() returned true.

Implemented in wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorLoopClosure, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ processKeyFrame()

virtual void wolf::ProcessorBase::processKeyFrame ( FrameBasePtr _keyframe_ptr )

protectedpure virtual

process an incoming key-frame

Each derived processor should implement this function. It will be called if:

A new KF arrived and triggerInKF() returned true.

Implemented in wolf::ProcessorLoopClosure, wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ remove()

void wolf::ProcessorBase::remove ( )

virtual

◆ setApplyLossFunction()

void wolf::ProcessorBase::setApplyLossFunction ( bool _apply_loss_function )

inline

◆ setDebugVerboseLevel()

void wolf::ProcessorBase::setDebugVerboseLevel ( const std::string & _debug_verbose_level )

inline

◆ setProblem()

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

overrideprotectedvirtual

Reimplemented from wolf::NodeBase.

◆ setTimeTolerance()

void wolf::ProcessorBase::setTimeTolerance ( double _time_tolerance )

inline

◆ setVotingActive()

void wolf::ProcessorBase::setVotingActive ( bool _voting_active )

inline

◆ startCaptureProfiling()

void wolf::ProcessorBase::startCaptureProfiling ( )

inline

◆ startKFProfiling()

void wolf::ProcessorBase::startKFProfiling ( )

inline

◆ stopCaptureProfiling()

void wolf::ProcessorBase::stopCaptureProfiling ( )

◆ stopKFProfiling()

void wolf::ProcessorBase::stopKFProfiling ( )

◆ storeCapture()

virtual bool wolf::ProcessorBase::storeCapture ( CaptureBasePtr )

protectedpure virtual

store capture

Returns true if the capture should be stored

Implemented in wolf::ProcessorLoopClosure, wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ storeKeyFrame()

virtual bool wolf::ProcessorBase::storeKeyFrame ( FrameBasePtr )

protectedpure virtual

store key frame

Returns true if the key frame should be stored

Implemented in wolf::ProcessorLoopClosure, wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ triggerInCapture()

virtual bool wolf::ProcessorBase::triggerInCapture ( CaptureBasePtr ) const

protectedpure virtual

trigger in capture

Returns true if processCapture() should be called after the provided capture arrived.

Implemented in wolf::ProcessorLoopClosure, wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ triggerInKeyFrame()

virtual bool wolf::ProcessorBase::triggerInKeyFrame ( FrameBasePtr ) const

protectedpure virtual

trigger in key-frame

Returns true if processKeyFrame() should be called after the provided KF arrived.

Implemented in wolf::ProcessorLoopClosure, wolf::ProcessorPose< DIM >, wolf::ProcessorFixedWingModel, wolf::ProcessorMotion, and wolf::ProcessorTracker.

◆ voteForKeyFrame()

virtual bool wolf::ProcessorBase::voteForKeyFrame ( ) const

protectedpure virtual

Vote for KeyFrame generation.

If a KeyFrame criterion is validated, this function returns true, meaning that it wants to create a KeyFrame at the last Capture.

WARNING! This function only votes! It does not create KeyFrames!

Implemented in wolf::ProcessorFixedWingModel, wolf::ProcessorLandmarkExternal, wolf::ProcessorLoopClosure, wolf::ProcessorMotion, wolf::ProcessorOdom2d, wolf::ProcessorOdom3d, wolf::ProcessorPose< DIM >, wolf::ProcessorTracker, wolf::ProcessorTrackerFeature, and wolf::ProcessorTrackerLandmark.

Member Data Documentation

◆ buffer_capture_

BufferCapture wolf::ProcessorBase::buffer_capture_

protected

◆ buffer_frame_

BufferFrame wolf::ProcessorBase::buffer_frame_

protected

◆ debug_verbose_level_

std::string wolf::ProcessorBase::debug_verbose_level_

protected

◆ params_

YAML::Node wolf::ProcessorBase::params_

protected

◆ processor_id_

unsigned int wolf::ProcessorBase::processor_id_

protected

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

include/core/processor/processor_base.h
src/processor/processor_base.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ProcessorBase()

◆ ~ProcessorBase()

Member Function Documentation

◆ addTypes()

◆ applyLossFunction()

◆ captureCallback()

◆ check()

◆ checkTimeTolerance() [1/4]

◆ checkTimeTolerance() [2/4]

◆ checkTimeTolerance() [3/4]

◆ checkTimeTolerance() [4/4]

◆ configure()

◆ getDebugVerboseLevel()

◆ getParams()

◆ getSensor() [1/2]

◆ getSensor() [2/2]

◆ getStateKeys()

◆ getStateTypes()

◆ getTimeTolerance()

◆ hasChildren()

◆ id()

◆ isMotionProvider()

◆ isVotingActive()

◆ keyFrameCallback()

◆ link()

◆ localCheck()

◆ permittedKeyFrame()

◆ print()

◆ printHeader()

◆ printProfiling()

◆ processCapture()

◆ processKeyFrame()

◆ remove()

◆ setApplyLossFunction()

◆ setDebugVerboseLevel()

◆ setProblem()

◆ setTimeTolerance()

◆ setVotingActive()

◆ startCaptureProfiling()

◆ startKFProfiling()

◆ stopCaptureProfiling()

◆ stopKFProfiling()

◆ storeCapture()

◆ storeKeyFrame()

◆ triggerInCapture()

◆ triggerInKeyFrame()

◆ voteForKeyFrame()

Member Data Documentation

◆ buffer_capture_

◆ buffer_frame_

◆ debug_verbose_level_

◆ params_

◆ processor_id_