/home/laradmin/lar/utils/human_leader/src/extract_features.cpp File Reference

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "tf/transform_listener.h"
#include "mtt/TargetList.h"

Include dependency graph for extract_features.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
void	tagCallback (const std_msgs::Header &tag)
void	targetsCallback (const mtt::TargetList &list)
ros::Time	time_last_msg (0)
	Code for feature extraction.
Variables
double	angle_to_robot
geometry_msgs::Twist	features
double	heading_diff
uint	leader_tag = 0
tf::TransformListener *	p_listener
double	position_diff
double	robot_theta
double	robot_vel
double	robot_x
double	robot_y
uint	single_target = 0
uint	target_id = 0
double	target_theta
double	target_vel
double	target_x
double	target_y
ros::Duration	time_elapsed
tf::StampedTransform	transform
geometry_msgs::Twist	twist
double	velocity_diff

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 228 of file extract_features.cpp.

void tagCallback ( const std_msgs::Header & tag )

Definition at line 175 of file extract_features.cpp.

void targetsCallback ( const mtt::TargetList & list )

/// ROBOT PART //////

uncomment the following for training!

/// TARGETS PART //////

uncomment the following for training!

Definition at line 74 of file extract_features.cpp.

ros::Time time_last_msg ( 0 )

Code for feature extraction.

extract features from targets received from MTT wrt the robot the features are printed in the command line and should be stored in a file (txt) for further processing with matlab the features will be used for training a classifier

it is also responsible of publishing these features to a matlab classifier that will then output a message with the classification of the target based on its features