Class to measure statistics about experiments. More...

#include <experiment_stats.hpp>

Collaboration diagram for mfcpp::ExperimentStatsNode:

Public Member Functions
	ExperimentStatsNode ()

	~ExperimentStatsNode ()

void	run_node ()
	Runs the node. More...

Private Member Functions
void	init_node ()
	Initialises the node and its parameters. More...

geometry_msgs::Pose	find_closest (const std::vector< geometry_msgs::PoseStamped > &path, const geometry_msgs::Pose &pose)
	Finds the closest pose in a path. More...

float	compute_diff (const std::vector< std::vector< float >> &array1, const std::vector< std::vector< float >> &array2)
	Computes the difference between two arrays. More...

void	write_output (const geometry_msgs::Pose &pose, const geometry_msgs::Pose &reference, const mf_common::EulerPose &error, float gp_cov_trace, float information, float gp_diff_norm)
	Writes the output statistics in the out file. More...

bool	load_gp (std::string file_name, std::vector< float > &gp_mean)
	Loads the GP mean from a file. More...

void	save_gp ()
	Saves the mean of the Gaussian Process in a file. More...

void	odom_cb (const nav_msgs::Odometry msg)
	Callback for odometry. More...

void	path_cb (const nav_msgs::Path msg)
	Callback for the reference path. More...

void	gp_mean_cb (const mf_common::Float32Array msg)
	Callback for the mean of the Gaussian Process. More...

void	gp_cov_cb (const mf_common::Array2D msg)
	Callback for the covariance of the Gaussian Process. More...

void	gp_eval_cb (const mf_common::Array2D msg)
	Callback for the evaluated GP. More...

void	algae_cb (const mf_farm_simulator::Algae msg)
	Callback for farm algae. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler. More...

ros::Subscriber	odom_sub_
	Subscriber for robot odometry. More...

ros::Subscriber	path_sub_
	Subscriber for the reference path. More...

ros::Subscriber	gp_mean_sub_
	Subscriber for mean of the GP. More...

ros::Subscriber	gp_cov_sub_
	Subscriber for covariance of the GP. More...

ros::Subscriber	gp_eval_sub_
	Subscriber for the evaluated GP. More...

ros::Subscriber	algae_sub_
	Subscriber for the farm algae. More...

ros::Publisher	ref_pub_
	Publisher for the reference pose. More...

ros::Publisher	error_pub_
	Publisher for the tracking error. More...

ros::Publisher	diff_img_pub_
	Publisher for the image of the difference between the mapped GP and the algae heatmap. More...

ros::ServiceClient	load_gp_client_
	Service client for loading the GP. More...

tf2_ros::Buffer	tf_buffer_
	Buffer for tf2. More...

tf2_ros::TransformListener	tf_listener_
	Transform listener for tf2. More...

nav_msgs::Odometry	odom_
	Last odometry message received. More...

nav_msgs::Path	path_
	Reference path to follow. More...

std::vector< float >	gp_mean_
	Mean of the Gaussian Process. More...

std::vector< float >	gp_cov_
	Diagonal of the covariance of the Gaussian Proces. More...

std::vector< float >	init_gp_cov_
	Diagonal of the initial covariance of the GP. More...

std::vector< std::vector< float > >	gp_eval_
	Evaluated GP. More...

std::vector< std::vector< std::vector< float > > >	algae_heatmaps_
	Disease heatmaps of the algae. More...

bool	odom_received_
	Whether odometry has been received. More...

bool	path_received_
	Whether the reference path has been received. More...

bool	gp_mean_received_
	Whether the mean of the GP has been received. More...

bool	gp_cov_received_
	Whether the covariance of the GP has been received. More...

bool	gp_eval_received_
	Whether the evaluated GP has been received. More...

bool	algae_received_
	Whether the farm algae have been received. More...

float	moved_distance_
	Distance moved by the robot since the start. More...

double	start_time_
	Start time of the test. More...

std::ofstream	out_file_
	Output CSV file containg data of the experiment. More...

ROS parameters
float	main_freq_
	Frequency of the main loop. More...

float	gp_threshold_
	Threshold to consider a GP component in information gain computation. More...

bool	save_gp_
	Whether to save the Gaussian Process at the end. More...

bool	load_gp_
	Whether to load the Gaussian Process at the beginning. More...

std::string	gp_file_name_

Detailed Description

Class to measure statistics about experiments.

Measures different statistics and publishes it to ROS and to a text file. Statistics measured:

control tracking error
trace of the Gaussian Process covariance
information (weighted sum of the diagonal coefficients of the covariance of the GP)
mapping error

Definition at line 38 of file experiment_stats.hpp.

Constructor & Destructor Documentation

mfcpp::ExperimentStatsNode::ExperimentStatsNode ( )

Definition at line 45 of file experiment_stats.cpp.

mfcpp::ExperimentStatsNode::~ExperimentStatsNode ( )

Definition at line 53 of file experiment_stats.cpp.

Member Function Documentation

void mfcpp::ExperimentStatsNode::algae_cb ( const mf_farm_simulator::Algae msg )

private

Callback for farm algae.

Definition at line 424 of file experiment_stats.cpp.

float mfcpp::ExperimentStatsNode::compute_diff	(	const std::vector< std::vector< float >> &	array1,
		const std::vector< std::vector< float >> &	array2
	)

private

Computes the difference between two arrays.

Computes the 2-norm of the difference between the two arrays, and publishes an image corresponding to the difference.

The arrays don't need to be of the same size (but of same proportions). The values will be scaled out by their maximum value.

Parameters

array1	First array
array2	Second array

Returns: 2-norm of the difference of the two arrays

Definition at line 220 of file experiment_stats.cpp.

geometry_msgs::Pose mfcpp::ExperimentStatsNode::find_closest	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const geometry_msgs::Pose &	pose
	)

private

Finds the closest pose in a path.

Parameters

[in]	path	List of poses
[in]	pose	Current pose

Returns: Closest pose to pose in path

Definition at line 197 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::gp_cov_cb ( const mf_common::Array2D msg )

private

Callback for the covariance of the Gaussian Process.

Definition at line 393 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::gp_eval_cb ( const mf_common::Array2D msg )

private

Callback for the evaluated GP.

Definition at line 408 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::gp_mean_cb ( const mf_common::Float32Array msg )

private

Callback for the mean of the Gaussian Process.

Definition at line 386 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::init_node ( )

private

Initialises the node and its parameters.

Definition at line 59 of file experiment_stats.cpp.

bool mfcpp::ExperimentStatsNode::load_gp	(	std::string	file_name,
		std::vector< float > &	gp_mean
	)

private

Loads the GP mean from a file.

Parameters

[in]	file_name	Path of the file where to load the GP
[out]	gp_mean	Loaded gp_mean

Returns: Whether the file could be read

Definition at line 315 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::odom_cb ( const nav_msgs::Odometry msg )

private

Callback for odometry.

Increments distance moved by the robot

Definition at line 363 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::path_cb ( const nav_msgs::Path msg )

private

Callback for the reference path.

Definition at line 379 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::run_node ( )

Runs the node.

Definition at line 105 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::save_gp ( )

private

Saves the mean of the Gaussian Process in a file.

Definition at line 341 of file experiment_stats.cpp.

void mfcpp::ExperimentStatsNode::write_output	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Pose &	reference,
		const mf_common::EulerPose &	error,
		float	gp_cov_trace,
		float	information,
		float	gp_diff_norm
	)

private

Writes the output statistics in the out file.

Parameters

pose	Current pose
reference	Reference pose
error	Error between current pose and reference
gp_cov_trace	Trace of the covariance of the Gaussian Process
information	Information (weighted sum of the diagonal coefficients of the covariance of the GP)
gp_diff_norm	Norm of the difference between the evaluated GP and the algae disease heatmaps

Definition at line 284 of file experiment_stats.cpp.

Member Data Documentation

std::vector<std::vector<std::vector<float> > > mfcpp::ExperimentStatsNode::algae_heatmaps_

private

Disease heatmaps of the algae.

Definition at line 70 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::algae_received_

private

Whether the farm algae have been received.

Definition at line 76 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::algae_sub_

private

Subscriber for the farm algae.

Definition at line 56 of file experiment_stats.hpp.

ros::Publisher mfcpp::ExperimentStatsNode::diff_img_pub_

private

Publisher for the image of the difference between the mapped GP and the algae heatmap.

Definition at line 59 of file experiment_stats.hpp.

ros::Publisher mfcpp::ExperimentStatsNode::error_pub_

private

Publisher for the tracking error.

Definition at line 58 of file experiment_stats.hpp.

std::vector<float> mfcpp::ExperimentStatsNode::gp_cov_

private

Diagonal of the covariance of the Gaussian Proces.

Definition at line 67 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::gp_cov_received_

private

Whether the covariance of the GP has been received.

Definition at line 74 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::gp_cov_sub_

private

Subscriber for covariance of the GP.

Definition at line 54 of file experiment_stats.hpp.

std::vector<std::vector<float> > mfcpp::ExperimentStatsNode::gp_eval_

private

Evaluated GP.

Definition at line 69 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::gp_eval_received_

private

Whether the evaluated GP has been received.

Definition at line 75 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::gp_eval_sub_

private

Subscriber for the evaluated GP.

Definition at line 55 of file experiment_stats.hpp.

std::string mfcpp::ExperimentStatsNode::gp_file_name_

private

Name/path of the file where to save the GP

Definition at line 88 of file experiment_stats.hpp.

std::vector<float> mfcpp::ExperimentStatsNode::gp_mean_

private

Mean of the Gaussian Process.

Definition at line 66 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::gp_mean_received_

private

Whether the mean of the GP has been received.

Definition at line 73 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::gp_mean_sub_

private

Subscriber for mean of the GP.

Definition at line 53 of file experiment_stats.hpp.

float mfcpp::ExperimentStatsNode::gp_threshold_

private

Threshold to consider a GP component in information gain computation.

Definition at line 85 of file experiment_stats.hpp.

std::vector<float> mfcpp::ExperimentStatsNode::init_gp_cov_

private

Diagonal of the initial covariance of the GP.

Definition at line 68 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::load_gp_

private

Whether to load the Gaussian Process at the beginning.

Definition at line 87 of file experiment_stats.hpp.

ros::ServiceClient mfcpp::ExperimentStatsNode::load_gp_client_

private

Service client for loading the GP.

Definition at line 60 of file experiment_stats.hpp.

float mfcpp::ExperimentStatsNode::main_freq_

private

Frequency of the main loop.

Definition at line 84 of file experiment_stats.hpp.

float mfcpp::ExperimentStatsNode::moved_distance_

private

Distance moved by the robot since the start.

Definition at line 77 of file experiment_stats.hpp.

ros::NodeHandle mfcpp::ExperimentStatsNode::nh_

private

Node handler.

Definition at line 50 of file experiment_stats.hpp.

nav_msgs::Odometry mfcpp::ExperimentStatsNode::odom_

private

Last odometry message received.

Definition at line 64 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::odom_received_

private

Whether odometry has been received.

Definition at line 71 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::odom_sub_

private

Subscriber for robot odometry.

Definition at line 51 of file experiment_stats.hpp.

std::ofstream mfcpp::ExperimentStatsNode::out_file_

private

Output CSV file containg data of the experiment.

Definition at line 80 of file experiment_stats.hpp.

nav_msgs::Path mfcpp::ExperimentStatsNode::path_

private

Reference path to follow.

Definition at line 65 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::path_received_

private

Whether the reference path has been received.

Definition at line 72 of file experiment_stats.hpp.

ros::Subscriber mfcpp::ExperimentStatsNode::path_sub_

private

Subscriber for the reference path.

Definition at line 52 of file experiment_stats.hpp.

ros::Publisher mfcpp::ExperimentStatsNode::ref_pub_

private

Publisher for the reference pose.

Definition at line 57 of file experiment_stats.hpp.

bool mfcpp::ExperimentStatsNode::save_gp_

private

Whether to save the Gaussian Process at the end.

Definition at line 86 of file experiment_stats.hpp.

double mfcpp::ExperimentStatsNode::start_time_

private

Start time of the test.

Definition at line 79 of file experiment_stats.hpp.

tf2_ros::Buffer mfcpp::ExperimentStatsNode::tf_buffer_

private

Buffer for tf2.

Definition at line 61 of file experiment_stats.hpp.

tf2_ros::TransformListener mfcpp::ExperimentStatsNode::tf_listener_

private

Transform listener for tf2.

Definition at line 62 of file experiment_stats.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_experiments/include/mf_experiments/experiment_stats.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_experiments/src/mf_experiments/experiment_stats.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation