Nodelet for a Gaussian Process mapping an algae wall. More...

#include <gp_nodelet.hpp>

Inheritance diagram for mfcpp::GPNodelet:

Collaboration diagram for mfcpp::GPNodelet:

Classes
struct	RectArea
	2D rectangular area More...

Public Member Functions
	GPNodelet ()

	~GPNodelet ()

virtual void	onInit ()
	Function called at beginning of nodelet execution. More...

Private Types
typedef std::vector< float >	vec_f

Private Member Functions
void	main_cb (const ros::TimerEvent &timer_event)
	Main callback which is called by a timer. More...

bool	get_tf ()
	Gets necessary tf transforms. More...

void	camera_cb (const mf_sensors_simulator::CameraOutputConstPtr &msg)
	Callback for the camera output. More...

bool	update_gp_cb (mf_mapping::UpdateGP::Request &req, mf_mapping::UpdateGP::Response &res)
	Service to update the Gaussian Process for several sets of measurements. More...

bool	load_gp_cb (mf_mapping::LoadGP::Request &req, mf_mapping::LoadGP::Response &res)
	Service to load the Gaussian Process mean. More...

bool	transform_points (const vec_f &x_in, const vec_f &y_in, const vec_f &z_in, vec_f &x_out, vec_f &y_out, vec_f &z_out, std::string frame_in, std::string frame_out)
	Transforms points from one frame to another. More...

bool	transform_points (const vec_f &x_in, const vec_f &y_in, const vec_f &z_in, vec_f &x_out, vec_f &y_out, vec_f &z_out, const geometry_msgs::TransformStamped &transform)
	Transforms points from one frame to another. More...

void	init_gp ()
	Initialises the Gaussian Process. More...

float	camera_noise (float distance) const
	Camera sensor noise model. More...

double	matern_kernel (double x1, double y1, double x2, double y2) const
	Matern 3/2 kernel function. More...

void	pop_reordered_idx (unsigned int size_obs, unsigned int size_nobs, unsigned int min_x, unsigned int max_x, unsigned int min_y, unsigned int max_y, std::vector< unsigned int > &idx_obs, std::vector< unsigned int > &idx_nobs) const
	Populates indices correspondance for reordered states. More...

void	notif_changing_pxls (const RectArea &coord)
	Notifies changing pixels during GP update. More...

void	build_Kalman_objects (const std::vector< unsigned int > &idx_obs, const std::vector< unsigned int > &idx_nobs, Eigen::VectorXf &mu, Eigen::VectorXf &mu_obs, Eigen::MatrixXf &P, Eigen::MatrixXf &P_obs, Eigen::MatrixXf &B, Eigen::MatrixXf &C_obs, Eigen::MatrixXf &C_obs_inv, Eigen::VectorXf &x_coord, Eigen::VectorXf &y_coord) const
	Builds vectors and matrices needed during Kalman update. More...

void	update_reordered_gp (const std::vector< unsigned int > &idx_obs, const std::vector< unsigned int > &idx_nobs, const Eigen::VectorXf &mu, const Eigen::MatrixXf &P, Eigen::VectorXf &gp_mean, Eigen::MatrixXf &gp_cov) const
	Fills GP mean and covariance from reordered objects. More...

void	update_gp (const vec_f &x_meas, const vec_f &y_meas, const vec_f &z_meas, const vec_f &distances, const vec_f &values, Eigen::VectorXf &gp_mean, Eigen::MatrixXf &gp_cov, std::vector< unsigned int > &idx_obs, RectArea &obs_coord, bool update_mean=true) const
	Updates the Gaussian Process given measured data points. More...

void	prepare_eval (const std::vector< unsigned int > &idx_obs, const Eigen::VectorXf &gp_mean, Eigen::VectorXf &x_obs, Eigen::VectorXf &y_obs, Eigen::VectorXf &W) const
	Prepares objects needed for Gaussian Process evaluation. More...

float	eval_gp (float x, float y, const Eigen::VectorXf &x_obs, const Eigen::VectorXf &y_obs, const Eigen::VectorXf &W) const
	Evaluates the Gaussian Process at a given point. More...

void	publish_gp_state ()
	Publishes mean and covariance of the Gaussian Process. More...

void	publish_gp_eval ()
	Publishes the evaluated GP and its covariance. More...

double	lambert_w0 (double z, double precision=0.01, double init_w=1.0) const
	Evaluates the Lambert W (0 branch) function. More...

double	lambert_wm1 (double z, double precision=0.01, double init_w=-2.0) const
	Evaluates the Lambert W (-1 branch) function. More...

double	lambert_w (double z, double precision, double init_w) const
	Applies Netwton's method to evaluate Lambert W function. More...

Static Private Member Functions
static void	sigint_handler (int s)
	SINGINT (Ctrl+C) callback to stop the nodelet properly. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler (for topics and services) More...

ros::NodeHandle	private_nh_
	Private node handler (for parameters) More...

ros::Subscriber	camera_sub_
	Subscriber for the camera. More...

ros::Publisher	wall_img_pub_
	Publisher for an image of the wall GP. More...

ros::Publisher	cov_img_pub_
	Publisher for an image of the GP covariance. More...

ros::Publisher	gp_mean_pub_
	Publisher for the GP mean. More...

ros::Publisher	gp_cov_pub_
	Publisher for the GP covariance. More...

ros::Publisher	gp_eval_pub_
	Publisher for the evaluated GP over the wall. More...

ros::ServiceServer	update_gp_serv_
	Service server for updating the GP. More...

ros::ServiceServer	load_gp_serv_
	Service server for loading the GP. More...

tf2_ros::Buffer	tf_buffer_
	Tf2 buffer for getting tf transforms. More...

tf2_ros::TransformListener	tf_listener_
	Tf2 listener for getting tf transforms. More...

bool	gp_initialised_
	Whether the Gaussian Process is initialised. More...

bool	gp_loaded_
	Whether the GP has been loaded from an external source. More...

bool	camera_msg_available_
	Whether a new camera message is available. More...

bool	tf_got_
	Whether transforms have been retrieved. More...

mf_sensors_simulator::CameraOutput::ConstPtr	camera_msg_
	Last camera message. More...

float	delta_x_
	Increment (m) in the x direction. More...

float	delta_y_
	Increment (m) in the y direction. More...

unsigned int	size_gp_
	Total size of the Gaussian Process. More...

unsigned int	size_img_
	Total size of the image. More...

geometry_msgs::TransformStamped	wall_camera_tf_

float	radius_obs_
	Radius of influence of an observation on the GP. More...

Eigen::VectorXf	gp_mean_
	Mean of the Gaussian Process. More...

Eigen::MatrixXf	gp_cov_
	Covariance of the Gaussian Process. More...

Eigen::MatrixXf	gp_C_
	Covariance of the values of the mean of the GP. More...

Eigen::MatrixXf	gp_C_inv_
	Inverse of gp_C_. More...

std::vector< unsigned int >	idx_obs_
	Array of corresponding indices for observed states. More...

Eigen::VectorXf	x_coord_
	X coordinates of the state on the wall. More...

Eigen::VectorXf	y_coord_
	Y coordinates of the state on the wall. More...

std::vector< float >	out_values_
	Output values of the Gaussian Process. More...

std::vector< bool >	changed_pxl_
	Whether an output pixel has been updated. More...

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

std::string	wall_frame_
	Name of the wall frame. More...

std::string	camera_frame_
	Name of the camera frame. More...

float	camera_var_
	Max variance on camera measurements. More...

float	camera_decay_
	Exponential decay rate on camera measurements. More...

float	matern_length_
	Lengthscale of the Matern kernel. More...

float	matern_var_
	Signal variance of the Matern kernel. More...

float	matern_thresh_
	Threshold to consider that the kernel value is 0. More...

float	gp_init_mean_
	Initial mean values of the Gaussian Process. More...

float	gp_noise_var_
	Noise variance of the Gaussian Process. More...

float	gp_cov_thresh_
	Threshold to consider a value as 0 in the covariance. More...

float	out_scale_

float	size_wall_x_
	Size (m) of the algae wall in the x direction. More...

float	size_wall_y_
	Size (m) of the algae wall in the y direction. More...

int	size_gp_x_
	Size of the Gaussian Process mean in the x direction. More...

int	size_gp_y_
	Size of the Gaussian Process mean in the y direction. More...

int	size_img_x_
	Size of the output image in the x direction. More...

int	size_img_y_

Static Private Attributes
static sig_atomic_t volatile	b_sigint_ = 0
	Whether SIGINT signal has been received. More...

static ros::Timer	main_timer_ = ros::Timer()
	Timer callback for the main function. More...

Detailed Description

Nodelet for a Gaussian Process mapping an algae wall.

Definition at line 32 of file gp_nodelet.hpp.

Member Typedef Documentation

typedef std::vector<float> mfcpp::GPNodelet::vec_f

private

Definition at line 59 of file gp_nodelet.hpp.

Constructor & Destructor Documentation

mfcpp::GPNodelet::GPNodelet ( )

Definition at line 44 of file gp_nodelet.cpp.

mfcpp::GPNodelet::~GPNodelet ( )

Definition at line 50 of file gp_nodelet.cpp.

Member Function Documentation

void mfcpp::GPNodelet::build_Kalman_objects	(	const std::vector< unsigned int > &	idx_obs,
		const std::vector< unsigned int > &	idx_nobs,
		Eigen::VectorXf &	mu,
		Eigen::VectorXf &	mu_obs,
		Eigen::MatrixXf &	P,
		Eigen::MatrixXf &	P_obs,
		Eigen::MatrixXf &	B,
		Eigen::MatrixXf &	C_obs,
		Eigen::MatrixXf &	C_obs_inv,
		Eigen::VectorXf &	x_coord,
		Eigen::VectorXf &	y_coord
	)		const

private

Builds vectors and matrices needed during Kalman update.

Note: It assumes the following objects are already of the right size

Parameters

[in]	idx_obs	Array of corresponding indices for obs states
[in]	idx_nobs	Array of corresponding indices for non obs states
[out]	mu	Reordered state
[out]	mu_obs	Observed part of the state
[out]	P	Reordered covariance
[out]	P_obs	Observed part of the covariance
[out]	B	Off diagonal block matrix in the covariance
[out]	C_obs	Covariance matrix of the GP for obs states
[out]	C_obs_inv	Inverse of C_obs
[out]	x_coord	X coordinates of the reordered state
[out]	y_coord	Y coordinates of the reordered state

Definition at line 131 of file gp.cpp.

void mfcpp::GPNodelet::camera_cb ( const mf_sensors_simulator::CameraOutputConstPtr & msg )

private

Callback for the camera output.

Parameters

msg	Pointer to the camera message

Definition at line 178 of file gp_nodelet.cpp.

float mfcpp::GPNodelet::camera_noise ( float distance ) const

inlineprivate

Camera sensor noise model.

Computes the variance on a camera measurement. The variance depends on the distance of the measured point: the greater the distance, the greater the variance is.

Parameters

distance Distance between the measured point and the camera origin

Definition at line 416 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::eval_gp	(	float	x,
		float	y,
		const Eigen::VectorXf &	x_obs,
		const Eigen::VectorXf &	y_obs,
		const Eigen::VectorXf &	W
	)		const

private

Evaluates the Gaussian Process at a given point.

Parameters

x	X coordinate of the evaluated point
y	Y coordinate of the evaluated point
x_obs	X coordinates of the observed state
x_obs	Y coordinates of the observed state
W	Vector needed for evaluation ( $W = (C^{-1})_{obs} \mu_{obs}$ )

Returns: Value of the evaluated Gaussian Process

Definition at line 385 of file gp.cpp.

bool mfcpp::GPNodelet::get_tf ( )

private

Gets necessary tf transforms.

Returns: Whether the transforms could be retrieved

Definition at line 187 of file gp_nodelet.cpp.

void mfcpp::GPNodelet::init_gp ( )

private

Initialises the Gaussian Process.

Definition at line 21 of file gp.cpp.

double mfcpp::GPNodelet::lambert_w	(	double	z,
		double	precision,
		double	init_w
	)		const

private

Applies Netwton's method to evaluate Lambert W function.

The initial point should be < -1.0 for branch -1 and > 0.0 for branch 0.

Warning: Does not care of bounds, so to use with care. Prefer using GPNodelet::lambert_w0 and GPNodelet::lambert_wm1.

Parameters

z	Real number in [-1/e, +inf)
precision	Desired precision for the result
init_w	Initial point of Newton's evaluation

Returns: The Lambert W function evaluated at z.

Definition at line 447 of file gp_nodelet.cpp.

double mfcpp::GPNodelet::lambert_w0	(	double	z,
		double	precision = `0.01`,
		double	init_w = `1.0`
	)		const

private

Evaluates the Lambert W (0 branch) function.

The Lambert W function solves the equation w*exp(w) = z with w = W0(z) when z >= 0. Uses Newton's method as indicated at https://en.wikipedia.org/wiki/Lambert_W_function#Numerical_evaluation

Note: This function is better implemented in Boost in versions >=1.69, which is not supported by ROS 1 (as of January 2020)

Parameters

z	Positive real number
precision	Desired precision for the result
init_w	Initial point of Newton's evaluation

Returns: The Lambert W function evaluated at z if z >= 0, 0 otherwise.

Definition at line 421 of file gp_nodelet.cpp.

double mfcpp::GPNodelet::lambert_wm1	(	double	z,
		double	precision = `0.01`,
		double	init_w = `-2.0`
	)		const

private

Evaluates the Lambert W (-1 branch) function.

The Lambert W function solves the equation w*exp(w) = z with w = W0(z) when -1/e <= z < 0. Uses Newton's method as indicated at https://en.wikipedia.org/wiki/Lambert_W_function#Numerical_evaluation

Note: This function is better implemented in Boost in versions >=1.69, which is not supported by ROS 1 (as of January 2020)

Parameters

z	Real number in [-1/e, 0)
precision	Desired precision for the result
init_w	Initial point of Newton's evaluation

Returns: The Lambert W function evaluated at z if z is in the right bound, 0 otherwise.

Definition at line 434 of file gp_nodelet.cpp.

bool mfcpp::GPNodelet::load_gp_cb	(	mf_mapping::LoadGP::Request &	req,
		mf_mapping::LoadGP::Response &	res
	)

private

Service to load the Gaussian Process mean.

Definition at line 326 of file gp_nodelet.cpp.

void mfcpp::GPNodelet::main_cb ( const ros::TimerEvent & timer_event )

private

Main callback which is called by a timer.

Parameters

timer_event Timer event information

Definition at line 122 of file gp_nodelet.cpp.

double mfcpp::GPNodelet::matern_kernel	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		const

inlineprivate

Matern 3/2 kernel function.

Parameters

x1	X coordinate of the first point
y1	Y coordinate of the first point
x2	X coordinate of the second point
y2	Y coordinate of the second point

Definition at line 422 of file gp_nodelet.hpp.

void mfcpp::GPNodelet::notif_changing_pxls ( const RectArea & coord )

private

Notifies changing pixels during GP update.

Parameters

coord Coordinates of the rectangular area of the observed state

Definition at line 107 of file gp.cpp.

void mfcpp::GPNodelet::onInit ( )

virtual

Function called at beginning of nodelet execution.

Definition at line 53 of file gp_nodelet.cpp.

void mfcpp::GPNodelet::pop_reordered_idx	(	unsigned int	size_obs,
		unsigned int	size_nobs,
		unsigned int	min_x,
		unsigned int	max_x,
		unsigned int	min_y,
		unsigned int	max_y,
		std::vector< unsigned int > &	idx_obs,
		std::vector< unsigned int > &	idx_nobs
	)		const

private

Populates indices correspondance for reordered states.

Used to reorder the state by putting observed states at the beginning and not observed states at the end.

Parameters

[in]	size_obs	Size of the observed state
[in]	size_nobs	Size of the non observed state
[in]	min_x	Minimal x index of the observed states
[in]	max_x	Maximal x index of the observed states
[in]	min_y	Minimal y index of the observed states
[in]	max_y	Maximal y index of the observed states
[out]	idx_obs	Array of corr. indices for obs states to populate
[out]	idx_nobs	Array of corr. indices for not obs states to populate

Definition at line 65 of file gp.cpp.

void mfcpp::GPNodelet::prepare_eval	(	const std::vector< unsigned int > &	idx_obs,
		const Eigen::VectorXf &	gp_mean,
		Eigen::VectorXf &	x_obs,
		Eigen::VectorXf &	y_obs,
		Eigen::VectorXf &	W
	)		const

private

Prepares objects needed for Gaussian Process evaluation.

Parameters

[in]	idx_obs	Array of corresponding indices for obs states
[in]	gp_mean	Mean of the Gaussian Process
[out]	x_obs	X coordinates of the observed state
[out]	y_obs	Y coordinates of the observed state
[out]	W	Vector needed for evaluation ( $W = (C^{-1})_{obs} \mu_{obs}$ )

Definition at line 358 of file gp.cpp.

void mfcpp::GPNodelet::publish_gp_eval ( )

private

Publishes the evaluated GP and its covariance.

Definition at line 50 of file gp_output.cpp.

void mfcpp::GPNodelet::publish_gp_state ( )

private

Publishes mean and covariance of the Gaussian Process.

Definition at line 26 of file gp_output.cpp.

void mfcpp::GPNodelet::sigint_handler ( int s )

staticprivate

SINGINT (Ctrl+C) callback to stop the nodelet properly.

Definition at line 170 of file gp_nodelet.cpp.

bool mfcpp::GPNodelet::transform_points	(	const vec_f &	x_in,
		const vec_f &	y_in,
		const vec_f &	z_in,
		vec_f &	x_out,
		vec_f &	y_out,
		vec_f &	z_out,
		std::string	frame_in,
		std::string	frame_out
	)

private

Transforms points from one frame to another.

Parameters

[in]	x_in	X coordinate of the input points
[in]	y_in	Y coordinate of the input points
[in]	z_in	Z coordinate of the input points
[out]	x_out	X coordinate of the transformed points
[out]	y_out	Y coordinate of the transformed points
[out]	z_out	Z coordinate of the transformed points
[in]	frame_in	Frame of the input points
[in]	frame_out	Frame of the output points

Returns: Whether the points could be transformed

bool mfcpp::GPNodelet::transform_points	(	const vec_f &	x_in,
		const vec_f &	y_in,
		const vec_f &	z_in,
		vec_f &	x_out,
		vec_f &	y_out,
		vec_f &	z_out,
		const geometry_msgs::TransformStamped &	transform
	)

private

Transforms points from one frame to another.

Parameters

[in]	x_in	X coordinate of the input points
[in]	y_in	Y coordinate of the input points
[in]	z_in	Z coordinate of the input points
[out]	x_out	X coordinate of the transformed points
[out]	y_out	Y coordinate of the transformed points
[out]	z_out	Z coordinate of the transformed points
[in]	transform	Transform to apply

Returns: Whether the points could be transformed

Definition at line 396 of file gp_nodelet.cpp.

void mfcpp::GPNodelet::update_gp	(	const vec_f &	x_meas,
		const vec_f &	y_meas,
		const vec_f &	z_meas,
		const vec_f &	distances,
		const vec_f &	values,
		Eigen::VectorXf &	gp_mean,
		Eigen::MatrixXf &	gp_cov,
		std::vector< unsigned int > &	idx_obs,
		RectArea &	obs_coord,
		bool	update_mean = `true`
	)		const

private

Updates the Gaussian Process given measured data points.

Parameters

[in]	x_meas	X coordinate of the measured data points (in wall frame=
[in]	y_meas	Y coordinate of the measured data points (in wall frame=
[in]	z_meas	Z coordinate of the measured data points (in wall frame=
[in]	distances	Distances between the camera origin and the measured points
[in]	values	Measured value of the points at coordinates (x, y)
[in,out]	gp_mean	Mean of the Gaussian Process
[in,out]	gp_cov	Covariance of the Gaussian Process
[out]	idx_obs	Array of corresponding indices for obs states
[out]	obs_coord	Coordinates of the rectangular area of the observed state
[in]	update_mean	Whether to update the mean

Definition at line 234 of file gp.cpp.

bool mfcpp::GPNodelet::update_gp_cb	(	mf_mapping::UpdateGP::Request &	req,
		mf_mapping::UpdateGP::Response &	res
	)

private

Service to update the Gaussian Process for several sets of measurements.

Definition at line 204 of file gp_nodelet.cpp.

void mfcpp::GPNodelet::update_reordered_gp	(	const std::vector< unsigned int > &	idx_obs,
		const std::vector< unsigned int > &	idx_nobs,
		const Eigen::VectorXf &	mu,
		const Eigen::MatrixXf &	P,
		Eigen::VectorXf &	gp_mean,
		Eigen::MatrixXf &	gp_cov
	)		const

private

Fills GP mean and covariance from reordered objects.

Parameters

[in]	idx_obs	Array of corresponding indices for obs states
[in]	idx_nobs	Array of corresponding indices for non obs states
[in]	mu	Reordered state
[in]	P	Reordered covariance
[out]	gp_mean	GP mean to fill
[out]	gp_cov	GP covariance to fill

Definition at line 188 of file gp.cpp.

Member Data Documentation

sig_atomic_t volatile mfcpp::GPNodelet::b_sigint_ = 0

staticprivate

Whether SIGINT signal has been received.

Definition at line 63 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::camera_decay_

private

Exponential decay rate on camera measurements.

Definition at line 109 of file gp_nodelet.hpp.

std::string mfcpp::GPNodelet::camera_frame_

private

Name of the camera frame.

Definition at line 106 of file gp_nodelet.hpp.

mf_sensors_simulator::CameraOutput::ConstPtr mfcpp::GPNodelet::camera_msg_

private

Last camera message.

Definition at line 84 of file gp_nodelet.hpp.

bool mfcpp::GPNodelet::camera_msg_available_

private

Whether a new camera message is available.

Definition at line 82 of file gp_nodelet.hpp.

ros::Subscriber mfcpp::GPNodelet::camera_sub_

private

Subscriber for the camera.

Definition at line 69 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::camera_var_

private

Max variance on camera measurements.

Definition at line 108 of file gp_nodelet.hpp.

std::vector<bool> mfcpp::GPNodelet::changed_pxl_

private

Whether an output pixel has been updated.

Definition at line 100 of file gp_nodelet.hpp.

ros::Publisher mfcpp::GPNodelet::cov_img_pub_

private

Publisher for an image of the GP covariance.

Definition at line 71 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::delta_x_

private

Increment (m) in the x direction.

Definition at line 85 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::delta_y_

private

Increment (m) in the y direction.

Definition at line 86 of file gp_nodelet.hpp.

Eigen::MatrixXf mfcpp::GPNodelet::gp_C_

private

Covariance of the values of the mean of the GP.

Definition at line 94 of file gp_nodelet.hpp.

Eigen::MatrixXf mfcpp::GPNodelet::gp_C_inv_

private

Inverse of gp_C_.

Definition at line 95 of file gp_nodelet.hpp.

Eigen::MatrixXf mfcpp::GPNodelet::gp_cov_

private

Covariance of the Gaussian Process.

Definition at line 93 of file gp_nodelet.hpp.

ros::Publisher mfcpp::GPNodelet::gp_cov_pub_

private

Publisher for the GP covariance.

Definition at line 73 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::gp_cov_thresh_

private

Threshold to consider a value as 0 in the covariance.

Definition at line 116 of file gp_nodelet.hpp.

ros::Publisher mfcpp::GPNodelet::gp_eval_pub_

private

Publisher for the evaluated GP over the wall.

Definition at line 74 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::gp_init_mean_

private

Initial mean values of the Gaussian Process.

Definition at line 114 of file gp_nodelet.hpp.

bool mfcpp::GPNodelet::gp_initialised_

private

Whether the Gaussian Process is initialised.

Definition at line 80 of file gp_nodelet.hpp.

bool mfcpp::GPNodelet::gp_loaded_

private

Whether the GP has been loaded from an external source.

Definition at line 81 of file gp_nodelet.hpp.

Eigen::VectorXf mfcpp::GPNodelet::gp_mean_

private

Mean of the Gaussian Process.

Definition at line 92 of file gp_nodelet.hpp.

ros::Publisher mfcpp::GPNodelet::gp_mean_pub_

private

Publisher for the GP mean.

Definition at line 72 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::gp_noise_var_

private

Noise variance of the Gaussian Process.

Definition at line 115 of file gp_nodelet.hpp.

std::vector<unsigned int> mfcpp::GPNodelet::idx_obs_

private

Array of corresponding indices for observed states.

Definition at line 96 of file gp_nodelet.hpp.

ros::ServiceServer mfcpp::GPNodelet::load_gp_serv_

private

Service server for loading the GP.

Definition at line 76 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::main_freq_

private

Frequency of the main loop.

Definition at line 104 of file gp_nodelet.hpp.

ros::Timer mfcpp::GPNodelet::main_timer_ = ros::Timer()

staticprivate

Timer callback for the main function.

Definition at line 64 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::matern_length_

private

Lengthscale of the Matern kernel.

Definition at line 111 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::matern_thresh_

private

Threshold to consider that the kernel value is 0.

Definition at line 113 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::matern_var_

private

Signal variance of the Matern kernel.

Definition at line 112 of file gp_nodelet.hpp.

ros::NodeHandle mfcpp::GPNodelet::nh_

private

Node handler (for topics and services)

Definition at line 67 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::out_scale_

private

Exponential scale factor for the output (higher value implies sharper transition between 0 and 1)

Definition at line 117 of file gp_nodelet.hpp.

std::vector<float> mfcpp::GPNodelet::out_values_

private

Output values of the Gaussian Process.

Definition at line 99 of file gp_nodelet.hpp.

ros::NodeHandle mfcpp::GPNodelet::private_nh_

private

Private node handler (for parameters)

Definition at line 68 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::radius_obs_

private

Radius of influence of an observation on the GP.

Definition at line 90 of file gp_nodelet.hpp.

unsigned int mfcpp::GPNodelet::size_gp_

private

Total size of the Gaussian Process.

Definition at line 87 of file gp_nodelet.hpp.

int mfcpp::GPNodelet::size_gp_x_

private

Size of the Gaussian Process mean in the x direction.

Definition at line 122 of file gp_nodelet.hpp.

int mfcpp::GPNodelet::size_gp_y_

private

Size of the Gaussian Process mean in the y direction.

Definition at line 123 of file gp_nodelet.hpp.

unsigned int mfcpp::GPNodelet::size_img_

private

Total size of the image.

Definition at line 88 of file gp_nodelet.hpp.

int mfcpp::GPNodelet::size_img_x_

private

Size of the output image in the x direction.

Definition at line 124 of file gp_nodelet.hpp.

int mfcpp::GPNodelet::size_img_y_

private

Size of the output image in the y direction

Definition at line 125 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::size_wall_x_

private

Size (m) of the algae wall in the x direction.

Definition at line 120 of file gp_nodelet.hpp.

float mfcpp::GPNodelet::size_wall_y_

private

Size (m) of the algae wall in the y direction.

Definition at line 121 of file gp_nodelet.hpp.

tf2_ros::Buffer mfcpp::GPNodelet::tf_buffer_

private

Tf2 buffer for getting tf transforms.

Definition at line 77 of file gp_nodelet.hpp.

bool mfcpp::GPNodelet::tf_got_

private

Whether transforms have been retrieved.

Definition at line 83 of file gp_nodelet.hpp.

tf2_ros::TransformListener mfcpp::GPNodelet::tf_listener_

private

Tf2 listener for getting tf transforms.

Definition at line 78 of file gp_nodelet.hpp.

ros::ServiceServer mfcpp::GPNodelet::update_gp_serv_

private

Service server for updating the GP.

Definition at line 75 of file gp_nodelet.hpp.

geometry_msgs::TransformStamped mfcpp::GPNodelet::wall_camera_tf_

private

Definition at line 89 of file gp_nodelet.hpp.

std::string mfcpp::GPNodelet::wall_frame_

private

Name of the wall frame.

Definition at line 105 of file gp_nodelet.hpp.

ros::Publisher mfcpp::GPNodelet::wall_img_pub_

private

Publisher for an image of the wall GP.

Definition at line 70 of file gp_nodelet.hpp.

Eigen::VectorXf mfcpp::GPNodelet::x_coord_

private

X coordinates of the state on the wall.

Definition at line 97 of file gp_nodelet.hpp.

Eigen::VectorXf mfcpp::GPNodelet::y_coord_

private

Y coordinates of the state on the wall.

Definition at line 98 of file gp_nodelet.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_mapping/include/mf_mapping/gp_nodelet.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_mapping/src/mf_mapping/gp.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_mapping/src/mf_mapping/gp_nodelet.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_mapping/src/mf_mapping/gp_output.cpp

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

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