targets Class Reference

A collection of target objects that are searched, tracked, and rescued by the CPSs. More...

#include <targets.h>

Public Member Functions
void	publish (unsigned int id)
	Publish a target position event for the given target. More...
void	simulate ()
	Read simulated targets from parameter file. More...
	targets ()
	Constructor that initializes the private member variables. More...
void	update (geometry_msgs::Pose pose)
	Update the state of all targets. If no update has been received for a target within a fixed period, its state will change to TARGET_LOST. This needs to be called periodically. More...
void	update (cpswarm_msgs::TargetPositionEvent msg, target_state_t state)
	Update the information of a target. More...

Private Member Functions
geometry_msgs::Transform	transform (geometry_msgs::Pose p1, geometry_msgs::Pose p2) const
	Compute the transformation between two poses. More...
void	uuid_callback (const swarmros::String::ConstPtr &msg)
	Callback function to receive the UUID from the communication library. More...

Private Attributes
string	cps
	The UUID of the CPS that owns this class instance. More...
double	fov
	Range of the target tracking camera in meter. It is used to simulate target detection. Targets within this distance are detected by the CPS. More...
NodeHandle	nh
	A node handle for the main ROS node. More...
unordered_map< unsigned int, shared_ptr< target > >	simulated_targets
	A map holding ID and target object of simulated targets, including the ones not yet found. More...
unordered_map< unsigned int, shared_ptr< target > >	target_map
	A map holding ID and target object of all known targets. More...
Publisher	tracking_pub
	Publisher for transmitting target tracking information. More...

Detailed Description

A collection of target objects that are searched, tracked, and rescued by the CPSs.

Definition at line 15 of file targets.h.

Constructor & Destructor Documentation

targets()

targets::targets

(

)

Constructor that initializes the private member variables.

Definition at line 3 of file targets.cpp.

Member Function Documentation

publish()

void targets::publish

(

unsigned int

id

)

Publish a target position event for the given target.

Parameters

id	The ID of the target.

simulate()

void targets::simulate

(

)

Read simulated targets from parameter file.

Definition at line 34 of file targets.cpp.

transform()

geometry_msgs::Transform targets::transform ( geometry_msgs::Pose  p1, geometry_msgs::Pose  p2  ) const

private

Compute the transformation between two poses.

Parameters

p1	The first pose.
p2	The second pose.

Returns

The computed transformation.

Definition at line 103 of file targets.cpp.

update() [1/2]

void targets::update

(

geometry_msgs::Pose

pose

)

Update the state of all targets. If no update has been received for a target within a fixed period, its state will change to TARGET_LOST. This needs to be called periodically.

Parameters

pose	The current position of the CPS.

Definition at line 57 of file targets.cpp.

update() [2/2]

void targets::update	(	cpswarm_msgs::TargetPositionEvent	msg,
		target_state_t	state
	)

Update the information of a target.

Parameters

msg	The target position event message.
state	The target state.

Definition at line 84 of file targets.cpp.

uuid_callback()

void targets::uuid_callback ( const swarmros::String::ConstPtr &  msg )

private

Callback function to receive the UUID from the communication library.

Parameters

msg	UUID of this node.

Definition at line 133 of file targets.cpp.

Member Data Documentation

cps

string targets::cps

private

The UUID of the CPS that owns this class instance.

Definition at line 86 of file targets.h.

fov

double targets::fov

private

Range of the target tracking camera in meter. It is used to simulate target detection. Targets within this distance are detected by the CPS.

Definition at line 91 of file targets.h.

nh

NodeHandle targets::nh

private

A node handle for the main ROS node.

Definition at line 66 of file targets.h.

simulated_targets

unordered_map<unsigned int, shared_ptr<target> > targets::simulated_targets

private

A map holding ID and target object of simulated targets, including the ones not yet found.

Definition at line 81 of file targets.h.

target_map

unordered_map<unsigned int, shared_ptr<target> > targets::target_map

private

A map holding ID and target object of all known targets.

Definition at line 76 of file targets.h.

tracking_pub

Publisher targets::tracking_pub

private

Publisher for transmitting target tracking information.

Definition at line 71 of file targets.h.

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

• targets.h
• targets.cpp