ExampleAttentionTargetsNode Class Reference

Example node demonstrating how to publish targets for attention recognition. More...

Public Member Functions
	ExampleAttentionTargetsNode (ros::NodeHandle &nh_rel, semio::HumanoidSource::Ptr humanoid_source_ptr, semio::HumanoidSink::Ptr humanoid_sink_ptr)
void	publishData ()
	Publish all relevant data. More...
void	spin ()
	Main loop. More...

Protected Types
typedef semio_msgs_ros::AttentionTargets	_AttentionTargetsMsg
	ROS message for a vector of attention targets. More...
typedef semio_msgs_ros::AttentionTarget	_AttentionTargetMsg
	ROS message for a single attention target. More...

Protected Attributes
ros::NodeHandle &	_nh_rel
	NodeHandle used to interface with ROS. More...
ros::Publisher	_attention_targets_pub
	Publisher for our attention targets. More...
semio::HumanoidSource::Ptr	_humanoid_source_ptr
	Pointer to the input source for humanoids. More...
semio::HumanoidSink::Ptr	_humanoid_sink_ptr
	Pointer to the output sink for humanoids. More...
bool	_is_virtual_source
	Whether the input source is a semio::HumanoidSourceVirtual. More...
semio::AttentionTargetArray	_attention_targets
	The list of attention targets to publish. More...
std::vector< TestPose >	_test_poses
	The list of test poses to use if _is_virtual_source == true. More...

Detailed Description

Example node demonstrating how to publish targets for attention recognition.

Definition at line 22 of file example_attention_targets_node.cpp.

Member Typedef Documentation

typedef semio_msgs_ros::AttentionTarget ExampleAttentionTargetsNode::_AttentionTargetMsg

protected

ROS message for a single attention target.

Definition at line 28 of file example_attention_targets_node.cpp.

typedef semio_msgs_ros::AttentionTargets ExampleAttentionTargetsNode::_AttentionTargetsMsg

protected

ROS message for a vector of attention targets.

Definition at line 26 of file example_attention_targets_node.cpp.

Constructor & Destructor Documentation

ExampleAttentionTargetsNode::ExampleAttentionTargetsNode ( ros::NodeHandle &  nh_rel, semio::HumanoidSource::Ptr  humanoid_source_ptr, semio::HumanoidSink::Ptr  humanoid_sink_ptr  )

inline

Parameters

nh_rel	NodeHandle used to interface with ROS.
humanoid_source_ptr	Pointer to the input source for humanoids.
humanoid_sink_ptr	Pointer to the output sink for humanoids.

Definition at line 55 of file example_attention_targets_node.cpp.

Member Function Documentation

void ExampleAttentionTargetsNode::publishData ( )

inline

Publish all relevant data.

• Publish humanoids from our input source to our output sink
• Convert attention targets to ROS message
• Publish attention targets

Definition at line 127 of file example_attention_targets_node.cpp.

void ExampleAttentionTargetsNode::spin ( )

inline

Main loop.

• If _is_virtual_source == true
  • Update our humanoid source with the next test pose
• publishData()

Definition at line 161 of file example_attention_targets_node.cpp.

References semio::HumanoidJoint::HEAD, semio::HumanoidJoint::NECK, and semio::HumanoidJoint::TORSO.

Referenced by main().

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Field Documentation

semio::AttentionTargetArray ExampleAttentionTargetsNode::_attention_targets

protected

The list of attention targets to publish.

Definition at line 44 of file example_attention_targets_node.cpp.

ros::Publisher ExampleAttentionTargetsNode::_attention_targets_pub

protected

Publisher for our attention targets.

Definition at line 33 of file example_attention_targets_node.cpp.

semio::HumanoidSink::Ptr ExampleAttentionTargetsNode::_humanoid_sink_ptr

protected

Pointer to the output sink for humanoids.

Definition at line 38 of file example_attention_targets_node.cpp.

semio::HumanoidSource::Ptr ExampleAttentionTargetsNode::_humanoid_source_ptr

protected

Pointer to the input source for humanoids.

Definition at line 36 of file example_attention_targets_node.cpp.

bool ExampleAttentionTargetsNode::_is_virtual_source

protected

Whether the input source is a semio::HumanoidSourceVirtual.

Definition at line 41 of file example_attention_targets_node.cpp.

ros::NodeHandle& ExampleAttentionTargetsNode::_nh_rel

protected

NodeHandle used to interface with ROS.

Definition at line 31 of file example_attention_targets_node.cpp.

std::vector<TestPose> ExampleAttentionTargetsNode::_test_poses

protected

The list of test poses to use if _is_virtual_source == true.

Definition at line 47 of file example_attention_targets_node.cpp.

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

• semio_attention_ros/nodes/example_attention_targets_node.cpp