aikido::perception::PerceptionModule Class Reference

The interface for the generic perception module. More...

#include <aikido/perception/PerceptionModule.hpp>

Inheritance diagram for aikido::perception::PerceptionModule:

Public Member Functions
virtual	~PerceptionModule ()=default
virtual bool	detectObjects (const aikido::planner::WorldPtr &env, ros::Duration timeout=ros::Duration(), ros::Time timestamp=ros::Time(0.0), std::vector< DetectedObject > *detectedObjects=nullptr)=0
	Run the specific detector via a service call or ROS message reception, lookup the transform between the specified frames, load object models for new objects, compute their pose, and update the list of DART Skeletons that represents the world. More...

Detailed Description

The interface for the generic perception module.

Provides a detectObjects() method for detecting all objects in the environment and updating the world representation accordingly.

Constructor & Destructor Documentation

~PerceptionModule()

virtual aikido::perception::PerceptionModule::~PerceptionModule ( )

virtualdefault

Member Function Documentation

detectObjects()

virtual bool aikido::perception::PerceptionModule::detectObjects ( const aikido::planner::WorldPtr &  env, ros::Duration  timeout = ros::Duration(), ros::Time  timestamp = ros::Time(0.0), std::vector< DetectedObject > *  detectedObjects = nullptr  )

pure virtual

Run the specific detector via a service call or ROS message reception, lookup the transform between the specified frames, load object models for new objects, compute their pose, and update the list of DART Skeletons that represents the world.

Parameters

[in]	env	World to add perceived objects to.
[in]	timeout	The duration up to which to wait for the transform. Returns false if none of the markers get correctly transformed
[in]	timestamp	Only detections more recent than this timestamp will be accepted. A timestamp of 0 greedily takes the first available message, and is the default behaviour.
[out]	detectedObjects	An output vector for detected objects before timeout.

Returns

Returns false if no detection observed before timeout. Returns true otherwise.

Implemented in aikido::perception::PoseEstimatorModule.