ExampleDeicticTargetsNode Class Reference

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

Public Member Functions
	ExampleDeicticTargetsNode (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::DeicticTargets	_DeicticTargetsMsg
	ROS message for a vector of deictic targets. More...
typedef semio_msgs_ros::DeicticTarget	_DeicticTargetMsg
	ROS message for a single deictic target. More...

Protected Attributes
ros::NodeHandle &	_nh_rel
	NodeHandle used to interface with ROS. More...
ros::Publisher	_deictic_targets_pub
	Publisher for our deictic targets. More...
semio::HumanoidSink::Ptr	_humanoid_sink_ptr
	Pointer to the input source for humanoids. More...
semio::HumanoidSource::Ptr	_humanoid_source_ptr
	Pointer to the output sink for humanoids. More...
bool	_is_virtual_source
	Whether the input source is a semio::HumanoidSourceVirtual. More...
semio::DeicticTargetArray	_deictic_targets
	The list of deictic 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 deixis recognition.

Definition at line 22 of file example_deictic_targets_node.cpp.

Member Typedef Documentation

typedef semio_msgs_ros::DeicticTarget ExampleDeicticTargetsNode::_DeicticTargetMsg

protected

ROS message for a single deictic target.

Definition at line 28 of file example_deictic_targets_node.cpp.

typedef semio_msgs_ros::DeicticTargets ExampleDeicticTargetsNode::_DeicticTargetsMsg

protected

ROS message for a vector of deictic targets.

Definition at line 26 of file example_deictic_targets_node.cpp.

Constructor & Destructor Documentation

ExampleDeicticTargetsNode::ExampleDeicticTargetsNode ( 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 output sink for humanoids.
humanoid_sink_ptr	Pointer to the input source for humanoids.

Definition at line 55 of file example_deictic_targets_node.cpp.

Member Function Documentation

void ExampleDeicticTargetsNode::publishData ( )

inline

Publish all relevant data.

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

Definition at line 127 of file example_deictic_targets_node.cpp.

void ExampleDeicticTargetsNode::spin ( )

inline

Main loop.

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

Definition at line 162 of file example_deictic_targets_node.cpp.

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

Referenced by main().

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Field Documentation

semio::DeicticTargetArray ExampleDeicticTargetsNode::_deictic_targets

protected

The list of deictic targets to publish.

Definition at line 44 of file example_deictic_targets_node.cpp.

ros::Publisher ExampleDeicticTargetsNode::_deictic_targets_pub

protected

Publisher for our deictic targets.

Definition at line 33 of file example_deictic_targets_node.cpp.

semio::HumanoidSink::Ptr ExampleDeicticTargetsNode::_humanoid_sink_ptr

protected

Pointer to the input source for humanoids.

Definition at line 36 of file example_deictic_targets_node.cpp.

semio::HumanoidSource::Ptr ExampleDeicticTargetsNode::_humanoid_source_ptr

protected

Pointer to the output sink for humanoids.

Definition at line 38 of file example_deictic_targets_node.cpp.

bool ExampleDeicticTargetsNode::_is_virtual_source

protected

Whether the input source is a semio::HumanoidSourceVirtual.

Definition at line 41 of file example_deictic_targets_node.cpp.

ros::NodeHandle& ExampleDeicticTargetsNode::_nh_rel

protected

NodeHandle used to interface with ROS.

Definition at line 31 of file example_deictic_targets_node.cpp.

std::vector<TestPose> ExampleDeicticTargetsNode::_test_poses

protected

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

Definition at line 47 of file example_deictic_targets_node.cpp.

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

• semio_deixis_ros/nodes/example_deictic_targets_node.cpp