Utility class to simplify the creation of semio::HumanoidSink instances. More...

#include <semio/ros/humanoid_sink_adapter.h>

Public Member Functions
	HumanoidSinkAdapter (::ros::NodeHandle const &nh_rel, std::string const &default_sink="ros")

HumanoidSink::Ptr	getHumanoidSink (std::string const &sink="param")
	Create a semio::HumanoidSink. More...

Protected Attributes
::ros::NodeHandle	_nh_rel
	NodeHandle copy for interfacing with ROS. More...

std::string	_default_sink
	The type of sink to use by default if param mode is selected and the ROS param `_humanoid_sink/type` is not defined. More...

Detailed Description

Utility class to simplify the creation of semio::HumanoidSink instances.

Definition at line 15 of file humanoid_sink_adapter.h.

Constructor & Destructor Documentation

semio::ros::HumanoidSinkAdapter::HumanoidSinkAdapter	(	::ros::NodeHandle const &	nh_rel,
		std::string const &	default_sink = `"ros"`
	)

Parameters

nh_rel	NodeHandle copy for interfacing with ROS.
default_sink	The type of sink to use by default if param mode is selected and the ROS param `_humanoid_sink/type` is not defined.

Definition at line 5 of file humanoid_sink_adapter.cpp.

Member Function Documentation

semio::HumanoidSink::Ptr semio::ros::HumanoidSinkAdapter::getHumanoidSink ( std::string const & sink = "param" )

Create a semio::HumanoidSink.

If the ROS param _humanoid_sink/filter/smoothing is defined, then a semio::HumanoidSmoothingFilter will be added to the sink's filter list. See ROS Params for more info.

Parameters

sink

The type of sink to create

Value	Resulting pointer type	Notes
`"param"`	variable based on ROS param	Uses the value of the ROS param `_humanoid_sink/type` to set `sink`; defaults to _default_sink defined during construction
`"ros"`	semio::ros::HumanoidSinkROS	Use ROS to sink humanoids; if the smoothing filter is enabled, creates the sink on topic `~humanoids/smoothed`
`"none"`	semio::ros::HumanoidSinkROS	Specialization of semio::ros::HumanoidSinkROS, connects to topic `/null`

Note: "none" will be used if the value of sink is not recognized

ROS Params

Name	Type	Default	Description
`_humanoid_sink/type`	string	_default_sink	Type of sink to create when `sink` is `"param"`
`_humanoid_sink/filter/smoothing/add`	any	undefined	Define this parameter to add a default smoothing filter to outgoing humanoids (when no other smoothing params are defined)
`_humanoid_sink/filter/smoothing/position`	float64	undefined	The strength of the position component of the smoothing filter
`_humanoid_sink/filter/smoothing/orientation`	float64	undefined	The strength of the orientation component of the smoothing filter
`_humanoid_sink/filter/smoothing/confidence`	float64	undefined	The strength of the confidence component of the smoothing filter
`_humanoid_sink/filter/smoothing/window`	float64	undefined	The window (duration) of the smoothing filter; `0` = use all samples