FeatExtrCam
[Tasks]

FeatExtrCam Task. More...


Classes
class	MipTasks::FeatExtrCamOptions
class	MipTasks::FeatExtrCamVar
class	MipTasks::FeatExtrCamSharedMem
	Shared memory for the feature extraction. More...
class	MipTasks::FeatExtrCam
	Visual hovering task for Uavs. More...
Enumerations
enum	MipTasks::FeatExtrCamTypes { MipTasks::FEAT_EXTRCAM_CAMSHIFT, MipTasks::FEAT_EXTRCAM_TYPES_NUM }
	Enumerates the types of the task. More...
enum	MipTasks::FeatExtrCamStates { MipTasks::FEAT_EXTRCAM_FIRST_RUN, MipTasks::FEAT_EXTRCAM_NORMAL_RUN, MipTasks::FEAT_EXTRCAM_LAST_RUN, MipTasks::FEAT_EXTRCAM_STATES_NUM }
	Enumerates the states of the task. More...
Functions
	MipTasks::FeatExtrCamOptions::FeatExtrCamOptions ()
	Default constructor.
string	MipTasks::FeatExtrCamOptions::getObjectName () const
	Gets the Name of the Options.
void	MipTasks::FeatExtrCamSharedMem::setMyProtrusions (PosiFeatures &protrusions, MotionModuleTState &protrusionsTState)
	Sets the protrusions and the TState of the time in wich they are extracted.
void	MipTasks::FeatExtrCamSharedMem::setMyCorners (PosiFeatures &corners, MotionModuleTState &cornersTState)
	Sets the corners.
bool	MipTasks::FeatExtrCamSharedMem::printFeat ()
	Get the printPosiFeature flag.
void	MipTasks::FeatExtrCamSharedMem::setMyObervations (vector< Angle > &observ, MotionModuleTState &camObsTState)
	Sets my visual observation.
	MipTasks::FeatExtrCam::FeatExtrCam (ResourcePointers resources, int argc, const char *argv[])
	Constructor.
	MipTasks::FeatExtrCam::~FeatExtrCam ()
	Destructor.
TaskPlate	MipTasks::FeatExtrCam::getPlate () const
	Gets task plate.
Time	MipTasks::FeatExtrCam::getMaxDuration ()
	Gets maxDurationPeriod, maximum duration for the task.
Time	MipTasks::FeatExtrCam::getMaxSamplPeriod ()
	Gets maxSamplPeriod, maximum allowed time period between two calls of a run.
Time	MipTasks::FeatExtrCam::getMinSamplPeriod ()
	Gets minSamplPeriod, minimum allowed time period between two calls of a run.
TaskOutputs	MipTasks::FeatExtrCam::run ()
	Run function.
Variables
static const char *	MipTasks::FeatExtrCamTypesNames [FEAT_EXTRCAM_TYPES_NUM]
static const char *	MipTasks::FeatExtrCamStatesNames [FEAT_EXTRCAM_STATES_NUM]
DecimalOption *	MipTasks::FeatExtrCamOptions::trimPitch
	Base pitch control output.
DecimalOption *	MipTasks::FeatExtrCamOptions::trimYaw
	Base yaw control output.
IntOption *	MipTasks::FeatExtrCamOptions::algoType
	Type of algorithm.
IntOption *	MipTasks::FeatExtrCamOptions::visDepth
	Level of visualization.
DecimalOption *	MipTasks::FeatExtrCamOptions::inKAngle
	kAngle value (controller gain).
DecimalOption *	MipTasks::FeatExtrCamOptions::inKfeatErr
	kFeatError value (weight of visual features).
DecimalOption *	MipTasks::FeatExtrCamOptions::inKintegral
	kIntegral value (weight of integral gain).
IntOption *	MipTasks::FeatExtrCamOptions::heightCtrlType
	Type of controller 0 remote, 1 onboard height ctrl, 2 GPS + onboard height ctrl.
StringOption *	MipTasks::FeatExtrCamOptions::log_path
	Path top save log file.
StringOption *	MipTasks::FeatExtrCamOptions::log_name
	Name of log file.
BoolOption *	MipTasks::FeatExtrCamOptions::make_log
	Whether or not record a logfile.
BoolOption *	MipTasks::FeatExtrCamOptions::offLine
CvMat *	MipTasks::FeatExtrCamVar::cv_U
CvMat *	MipTasks::FeatExtrCamVar::cv_V
CvMat *	MipTasks::FeatExtrCamVar::cv_W
CvMat *	MipTasks::FeatExtrCamVar::cv_JvInv
	Matrices for the inversion (using SVD).
CvMat *	MipTasks::FeatExtrCamVar::cv_Error
CvMat *	MipTasks::FeatExtrCamVar::cv_velContribute
CvMat *	MipTasks::FeatExtrCamVar::cv_omegaContribute
CvMat *	MipTasks::FeatExtrCamVar::cv_totalContribute
	Error and constributes for control.
CvMat *	MipTasks::FeatExtrCamVar::cv_desAngles
	Desired angles.
Decimal	MipTasks::FeatExtrCamVar::ControlAngles [2]
	Control angles.
short	MipTasks::FeatExtrCamVar::ctrlEnable
ofstream	MipTasks::FeatExtrCamVar::_logFile
int	MipTasks::FeatExtrCamVar::_numrow

Detailed Description

FeatExtrCam Task.

Types of visual hovering.

Enumeration Type Documentation

enum MipTasks::FeatExtrCamStates

Enumerates the states of the task.

Author:: Lorenzo Rosa

Enumerator:

FEAT_EXTRCAM_FIRST_RUN
FEAT_EXTRCAM_NORMAL_RUN
FEAT_EXTRCAM_LAST_RUN
FEAT_EXTRCAM_STATES_NUM

enum MipTasks::FeatExtrCamTypes

Enumerates the types of the task.

Author:: Lorenzo Rosa

Enumerator:

FEAT_EXTRCAM_CAMSHIFT
FEAT_EXTRCAM_TYPES_NUM

Function Documentation

MipTasks::FeatExtrCam::FeatExtrCam	(	ResourcePointers	resources,
		int	argc,
		const char *	argv[]
	)			`[inherited]`

Constructor.

MipTasks::FeatExtrCamOptions::FeatExtrCamOptions ( ) [inherited]

Default constructor.

Time MipTasks::FeatExtrCam::getMaxDuration ( ) [inline, virtual, inherited]

Gets maxDurationPeriod, maximum duration for the task.

Todo:: check with Paolo

Implements MipTasks::Task.

Time MipTasks::FeatExtrCam::getMaxSamplPeriod ( ) [inline, virtual, inherited]

Gets maxSamplPeriod, maximum allowed time period between two calls of a run.

Implements MipTasks::Task.

Time MipTasks::FeatExtrCam::getMinSamplPeriod ( ) [inline, virtual, inherited]

Gets minSamplPeriod, minimum allowed time period between two calls of a run.

Implements MipTasks::Task.

string MipTasks::FeatExtrCamOptions::getObjectName ( ) const [inline, virtual, inherited]

Gets the Name of the Options.

Returns:: The name the Options.

Implements Options.

TaskPlate MipTasks::FeatExtrCam::getPlate ( ) const [inline, virtual, inherited]

Gets task plate.

Implements MipTasks::Task.

bool MipTasks::FeatExtrCamSharedMem::printFeat ( ) [inherited]

Get the printPosiFeature flag.

Returns:: true if extracted feature must be printed, false otherwise.

TaskOutputs MipTasks::FeatExtrCam::run ( void ) [virtual, inherited]

Run function.

Implements MipTasks::Task.

void MipTasks::FeatExtrCamSharedMem::setMyCorners	(	PosiFeatures &	corners,
		MotionModuleTState &	cornersTState
	)			`[inherited]`

Sets the corners.

Parameters:

`[in]`	&corners	New corner vector.
`[in]`	&cornersTState	MotionModuleTState of the new corners vector.

void MipTasks::FeatExtrCamSharedMem::setMyObervations	(	vector< Angle > &	observ,
		MotionModuleTState &	camObsTState
	)			`[inherited]`

Sets my visual observation.

Parameters:

[in] &observation.vector

void MipTasks::FeatExtrCamSharedMem::setMyProtrusions	(	PosiFeatures &	protrusions,
		MotionModuleTState &	protrusionsTState
	)			`[inherited]`

Sets the protrusions and the TState of the time in wich they are extracted.

Parameters:

`[in]`	&posifeatures	New protrusion vector.
`[in]`	&posifeaturesTState	MotionModuleTState of the new protrusion vector.

MipTasks::FeatExtrCam::~FeatExtrCam ( ) [inherited]

Destructor.

Variable Documentation

ofstream MipTasks::FeatExtrCamVar::_logFile [inherited]

int MipTasks::FeatExtrCamVar::_numrow [inherited]

IntOption* MipTasks::FeatExtrCamOptions::algoType [inherited]

Type of algorithm.

Decimal MipTasks::FeatExtrCamVar::ControlAngles[2] [inherited]

Control angles.

short MipTasks::FeatExtrCamVar::ctrlEnable [inherited]

CvMat* MipTasks::FeatExtrCamVar::cv_desAngles [inherited]

Desired angles.

CvMat* MipTasks::FeatExtrCamVar::cv_Error [inherited]

CvMat * MipTasks::FeatExtrCamVar::cv_JvInv [inherited]

Matrices for the inversion (using SVD).

CvMat * MipTasks::FeatExtrCamVar::cv_omegaContribute [inherited]

CvMat * MipTasks::FeatExtrCamVar::cv_totalContribute [inherited]

Error and constributes for control.

CvMat* MipTasks::FeatExtrCamVar::cv_U [inherited]

CvMat * MipTasks::FeatExtrCamVar::cv_V [inherited]

CvMat * MipTasks::FeatExtrCamVar::cv_velContribute [inherited]

CvMat * MipTasks::FeatExtrCamVar::cv_W [inherited]

const char* MipTasks::FeatExtrCamStatesNames[FEAT_EXTRCAM_STATES_NUM] [static]

Initial value:

 {
  "FirstRun",
  "NormalRun",
  "LastRun"
 }

const char* MipTasks::FeatExtrCamTypesNames[FEAT_EXTRCAM_TYPES_NUM] [static]

Initial value:

{
  "Camshift"
 }

IntOption* MipTasks::FeatExtrCamOptions::heightCtrlType [inherited]

Type of controller 0 remote, 1 onboard height ctrl, 2 GPS + onboard height ctrl.

DecimalOption* MipTasks::FeatExtrCamOptions::inKAngle [inherited]

kAngle value (controller gain).

DecimalOption* MipTasks::FeatExtrCamOptions::inKfeatErr [inherited]

kFeatError value (weight of visual features).

DecimalOption* MipTasks::FeatExtrCamOptions::inKintegral [inherited]

kIntegral value (weight of integral gain).

StringOption* MipTasks::FeatExtrCamOptions::log_name [inherited]

Name of log file.

StringOption* MipTasks::FeatExtrCamOptions::log_path [inherited]

Path top save log file.

BoolOption* MipTasks::FeatExtrCamOptions::make_log [inherited]

Whether or not record a logfile.

BoolOption* MipTasks::FeatExtrCamOptions::offLine [inherited]

DecimalOption* MipTasks::FeatExtrCamOptions::trimPitch [inherited]

Base pitch control output.

DecimalOption* MipTasks::FeatExtrCamOptions::trimYaw [inherited]

Base yaw control output.

IntOption* MipTasks::FeatExtrCamOptions::visDepth [inherited]

Level of visualization.

FeatExtrCam [Tasks]

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation

FeatExtrCam
[Tasks]