The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <RBSFilter.hpp>

Inheritance diagram for pose_estimation::RBSFilter:

Public Member Functions
	RBSFilter (std::string const &name="pose_estimation::RBSFilter")

	RBSFilter (std::string const &name, RTT::ExecutionEngine *engine)

	~RBSFilter ()

bool	configureHook ()
	The following lines are template definitions for the various state machine. More...

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Member Functions
bool	setupFilter ()

void	predictionStep (const base::Time &sample_time)

void	writeCurrentState ()

virtual bool	resetState ()

void	verifyStreamAlignerStatus (transformer::Transformer &trans, double verification_interval=2.0, double drop_rate_warning=0.5, double drop_rate_critical=1.0)

void	verifyStreamAlignerStatus (const aggregator::StreamAlignerStatus &status, double verification_interval=2.0, double drop_rate_warning=0.5, double drop_rate_critical=1.0)

bool	getSensorInBodyPose (const transformer::Transformation &sensor2body_transformer, const base::Time &ts, Eigen::Affine3d &sensorInBody)

Protected Attributes
States	last_state

States	new_state

std::string	source_frame

boost::shared_ptr< PoseUKF >	pose_estimator

boost::shared_ptr< StreamAlignmentVerifier >	verifier

base::Time	last_sample_time

unsigned	aligner_stream_failures

unsigned	critical_aligner_stream_failures

Friends
class	RBSFilterBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','pose_estimation::RBSFilter')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

RBSFilter::RBSFilter ( std::string const & name = "pose_estimation::RBSFilter" )

TaskContext constructor for RBSFilter

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

RBSFilter::RBSFilter	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for RBSFilter

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

RBSFilter::~RBSFilter ( )

Default deconstructor of RBSFilter

Member Function Documentation

void RBSFilter::cleanupHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

bool RBSFilter::configureHook ( )

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

void RBSFilter::errorHook ( )

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

bool RBSFilter::getSensorInBodyPose	(	const transformer::Transformation &	sensor2body_transformer,
		const base::Time &	ts,
		Eigen::Affine3d &	sensorInBody
	)

protected

Tries to get a transformation from the given transformer at time ts

Returns: true if successful

void RBSFilter::predictionStep ( const base::Time & sample_time )

protected

Applies a prediction step of the filter with a given current sample time. The delta time step is the difference between the last sample time and the current one.

bool RBSFilter::resetState ( )

protectedvirtual

Resets the filter to the initial state by calling setupFilter()

bool RBSFilter::setupFilter ( )

protected

Initializes the filter with a valid state and covariance (Given by the _initial_state property). Also sets the process noise (_process_noise property).

bool RBSFilter::startHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

void RBSFilter::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void RBSFilter::updateHook ( )

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

void pose_estimation::RBSFilter::verifyStreamAlignerStatus	(	transformer::Transformer &	trans,
		double	verification_interval = `2.0`,
		double	drop_rate_warning = `0.5`,
		double	drop_rate_critical = `1.0`
	)

inlineprotected

Checks the current stream aligner sample drop rates of the aligned input ports. Drops might happen due to missaligned system times, high delays or sensor failuers.

When the drop_rate_warning is reached on at least one stream the task will switch to the runtime state TRANSFORMATION_ALIGNMENT_FAILURES. The task will continue to work. When the drop_rate_critical is reached on at least one stream the task will switch to the error state CRITICAL_ALIGNMENT_FAILURE. The task will be in an error state.

void RBSFilter::verifyStreamAlignerStatus	(	const aggregator::StreamAlignerStatus &	status,
		double	verification_interval = `2.0`,
		double	drop_rate_warning = `0.5`,
		double	drop_rate_critical = `1.0`
	)

protected

void RBSFilter::writeCurrentState ( )

protected

Writes out the current robot pose and task state. The seperation in this method ensures that this is done at the end of the update hook of a derivated task.

Friends And Related Function Documentation

friend class RBSFilterBase

friend

Member Data Documentation

unsigned pose_estimation::RBSFilter::aligner_stream_failures

protected

unsigned pose_estimation::RBSFilter::critical_aligner_stream_failures

protected

base::Time pose_estimation::RBSFilter::last_sample_time

protected

States pose_estimation::RBSFilter::last_state

protected

States pose_estimation::RBSFilter::new_state

protected

boost::shared_ptr<PoseUKF> pose_estimation::RBSFilter::pose_estimator

protected

std::string pose_estimation::RBSFilter::source_frame

protected

boost::shared_ptr<StreamAlignmentVerifier> pose_estimation::RBSFilter::verifier

protected

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

/build/rock-master-18.09-slam-orogen-pose-estimation-0.20180717/tasks/RBSFilter.hpp
/build/rock-master-18.09-slam-orogen-pose-estimation-0.20180717/tasks/RBSFilter.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation