wolf::SensorBase Class Reference

#include <core/sensor/sensor_base.h>

Inheritance diagram for wolf::SensorBase:

Public Member Functions
	~SensorBase () override
unsigned int	id () const override
HardwareBaseConstPtr	getHardware () const
HardwareBasePtr	getHardware ()
YAML::Node	getParams () const
ProcessorBaseConstPtrList	getProcessorList () const
ProcessorBasePtrList	getProcessorList ()
CaptureBaseConstPtr	getLastCapture () const
CaptureBasePtr	getLastCapture ()
void	setLastCapture (CaptureBasePtr)
void	updateLastCapture ()
CaptureBaseConstPtr	findLastCaptureBefore (const TimeStamp &_ts) const
CaptureBasePtr	findLastCaptureBefore (const TimeStamp &_ts)
bool	process (const CaptureBasePtr capture_ptr)
StateBlockConstPtr	getStateBlock (const char &_key) const override
StateBlockPtr	getStateBlock (const char &_key) override
StateBlockConstPtr	getStateBlock (const char &_key, const TimeStamp &_ts) const
StateBlockPtr	getStateBlock (const char &_key, const TimeStamp &_ts)
CaptureBaseConstPtr	getCaptureContainingStateBlock (const char &_key, const TimeStamp &_ts) const
CaptureBasePtr	getCaptureContainingStateBlock (const char &_key, const TimeStamp &_ts)
CaptureBaseConstPtr	getCaptureContainingStateBlock (const char &_key) const
CaptureBasePtr	getCaptureContainingStateBlock (const char &_key)
StateBlockConstPtr	getP (const TimeStamp _ts) const
StateBlockPtr	getP (const TimeStamp _ts)
StateBlockConstPtr	getO (const TimeStamp _ts) const
StateBlockPtr	getO (const TimeStamp _ts)
StateBlockConstPtr	getIntrinsic (const TimeStamp _ts) const
StateBlockPtr	getIntrinsic (const TimeStamp _ts)
StateBlockConstPtr	getP () const
StateBlockPtr	getP ()
StateBlockConstPtr	getO () const
StateBlockPtr	getO ()
StateBlockConstPtr	getIntrinsic () const
StateBlockPtr	getIntrinsic ()
void	setStateBlockDynamic (const char &_key, bool _dynamic=true)
bool	isStateBlockDynamic (const char &_key) const
bool	hasDrift (char _key) const
void	setDriftStdRate (char _key, const Eigen::VectorXd &_drift_rate_std)
Eigen::VectorXd	getDriftStdRate (char) const
void	fixExtrinsics ()
void	unfixExtrinsics ()
void	fixIntrinsics ()
void	unfixIntrinsics ()
bool	isEnabled () const
void	enable ()
void	disable ()
virtual Eigen::MatrixXd	computeNoiseCov (const Eigen::VectorXd &_data) const =0
virtual void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const
void	printState (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
void	link (HardwareBasePtr)
SensorBasePtr	shared_from_this_sensor ()
SensorBaseConstPtr	shared_from_this_sensor () 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 ()

Protected Member Functions
void	setProblem (ProblemPtr _problem) override final
	SensorBase (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_params)
	Constructor. More...
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
std::map< char, Eigen::VectorXd >	drifts_std_rate_
	std rate of the drift of dynamic state blocks [unit/sqrt(s)] More...
YAML::Node	params_
	Params yaml node. 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...

Constructor & Destructor Documentation

SensorBase()

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

protected

Constructor.

Parameters

_type	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived class name
_state_types	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: Composite of keys and types of the states of the sensor.
_params	params yaml node

~SensorBase()

wolf::SensorBase::~SensorBase ( )

override

Member Function Documentation

check()

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

computeNoiseCov()

virtual Eigen::MatrixXd wolf::SensorBase::computeNoiseCov ( const Eigen::VectorXd &  _data ) const

pure virtual

Implemented in wolf::SensorDiffDrive, wolf::SensorMotionModel, wolf::SensorOdom< DIM >, and wolf::SensorPose< DIM >.

disable()

void wolf::SensorBase::disable ( )

inline

enable()

void wolf::SensorBase::enable ( )

inline

findLastCaptureBefore() [1/2]

CaptureBasePtr wolf::SensorBase::findLastCaptureBefore

(

const TimeStamp &

_ts

)

findLastCaptureBefore() [2/2]

CaptureBaseConstPtr wolf::SensorBase::findLastCaptureBefore

(

const TimeStamp &

_ts

)

const

fixExtrinsics()

void wolf::SensorBase::fixExtrinsics

(

)

fixIntrinsics()

void wolf::SensorBase::fixIntrinsics

(

)

getCaptureContainingStateBlock() [1/4]

CaptureBasePtr wolf::SensorBase::getCaptureContainingStateBlock

(

const char &

_key

)

getCaptureContainingStateBlock() [2/4]

CaptureBaseConstPtr wolf::SensorBase::getCaptureContainingStateBlock

(

const char &

_key

)

const

getCaptureContainingStateBlock() [3/4]

CaptureBasePtr wolf::SensorBase::getCaptureContainingStateBlock	(	const char &	_key,
		const TimeStamp &	_ts
	)

getCaptureContainingStateBlock() [4/4]

CaptureBaseConstPtr wolf::SensorBase::getCaptureContainingStateBlock	(	const char &	_key,
		const TimeStamp &	_ts
	)		const

getDriftStdRate()

Eigen::VectorXd wolf::SensorBase::getDriftStdRate ( char  _key ) const

inline

getHardware() [1/2]

HardwareBasePtr wolf::SensorBase::getHardware ( )

inline

getHardware() [2/2]

HardwareBaseConstPtr wolf::SensorBase::getHardware ( ) const

inline

getIntrinsic() [1/4]

StateBlockPtr wolf::SensorBase::getIntrinsic

(

)

getIntrinsic() [2/4]

StateBlockConstPtr wolf::SensorBase::getIntrinsic

(

)

const

getIntrinsic() [3/4]

StateBlockPtr wolf::SensorBase::getIntrinsic

(

const TimeStamp

_ts

)

getIntrinsic() [4/4]

StateBlockConstPtr wolf::SensorBase::getIntrinsic

(

const TimeStamp

_ts

)

const

getLastCapture() [1/2]

CaptureBasePtr wolf::SensorBase::getLastCapture ( )

inline

getLastCapture() [2/2]

CaptureBaseConstPtr wolf::SensorBase::getLastCapture ( ) const

inline

getO() [1/4]

StateBlockPtr wolf::SensorBase::getO

(

)

getO() [2/4]

StateBlockConstPtr wolf::SensorBase::getO

(

)

const

getO() [3/4]

StateBlockPtr wolf::SensorBase::getO

(

const TimeStamp

_ts

)

getO() [4/4]

StateBlockConstPtr wolf::SensorBase::getO

(

const TimeStamp

_ts

)

const

getP() [1/4]

StateBlockPtr wolf::SensorBase::getP

(

)

getP() [2/4]

StateBlockConstPtr wolf::SensorBase::getP

(

)

const

getP() [3/4]

StateBlockPtr wolf::SensorBase::getP

(

const TimeStamp

_ts

)

getP() [4/4]

StateBlockConstPtr wolf::SensorBase::getP

(

const TimeStamp

_ts

)

const

getParams()

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

inline

getProcessorList() [1/2]

ProcessorBasePtrList wolf::SensorBase::getProcessorList ( )

inline

getProcessorList() [2/2]

ProcessorBaseConstPtrList wolf::SensorBase::getProcessorList ( ) const

inline

getStateBlock() [1/4]

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

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

getStateBlock() [2/4]

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

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

getStateBlock() [3/4]

StateBlockPtr wolf::SensorBase::getStateBlock	(	const char &	_key,
		const TimeStamp &	_ts
	)

getStateBlock() [4/4]

StateBlockConstPtr wolf::SensorBase::getStateBlock	(	const char &	_key,
		const TimeStamp &	_ts
	)		const

hasDrift()

bool wolf::SensorBase::hasDrift ( char  _key ) const

inline

id()

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

inlineoverridevirtual

Implements wolf::NodeStateBlocks.

isEnabled()

bool wolf::SensorBase::isEnabled ( ) const

inline

isStateBlockDynamic()

bool wolf::SensorBase::isStateBlockDynamic ( const char &  _key ) const

inline

link()

void wolf::SensorBase::link

(

HardwareBasePtr

_hw_ptr

)

localCheck()

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

virtual

print()

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

printHeader()

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

virtual

printState()

void wolf::SensorBase::printState	(	bool	_factored_by,
		bool	_metric,
		bool	_state_blocks,
		std::ostream &	_stream,
		std::string	_tabs
	)		const

process()

bool wolf::SensorBase::process

(

const CaptureBasePtr

capture_ptr

)

setDriftStdRate()

void wolf::SensorBase::setDriftStdRate	(	char	_key,
		const Eigen::VectorXd &	_drift_rate_std
	)

setLastCapture()

void wolf::SensorBase::setLastCapture

(

CaptureBasePtr

cap

)

setProblem()

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

finaloverrideprotectedvirtual

Reimplemented from wolf::NodeStateBlocks.

setStateBlockDynamic()

void wolf::SensorBase::setStateBlockDynamic ( const char &  _key, bool  _dynamic = true  )

inline

shared_from_this_sensor() [1/2]

SensorBasePtr wolf::SensorBase::shared_from_this_sensor ( )

inline

shared_from_this_sensor() [2/2]

SensorBaseConstPtr wolf::SensorBase::shared_from_this_sensor ( ) const

inline

unfixExtrinsics()

void wolf::SensorBase::unfixExtrinsics

(

)

unfixIntrinsics()

void wolf::SensorBase::unfixIntrinsics

(

)

updateLastCapture()

void wolf::SensorBase::updateLastCapture

(

)

Member Data Documentation

drifts_std_rate_

std::map<char, Eigen::VectorXd> wolf::SensorBase::drifts_std_rate_

protected

std rate of the drift of dynamic state blocks [unit/sqrt(s)]

params_

YAML::Node wolf::SensorBase::params_

protected

Params yaml node.

---

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

• include/core/sensor/sensor_base.h
• src/sensor/sensor_base.cpp