move3d::HumanMgr Class Reference

The HumanMgr class updates human configuration based on plugins. More...

#include <humanmgr.h>

Public Types
typedef std::map< std::string, HumanSettingsPtr >::iterator	HumanSettingsIterator

Public Member Functions
	HumanMgr (ros::NodeHandle *nh, SceneManager *sc)
	constructor
bool	updateParams ()
	read the ROS parameter server to find settings More...
bool	loadPlugins ()
	load the plugins found by the pluginlib ClassLoader More...
bool	setHumanPos (const std::string &name, const Eigen::Affine3d &base, const std::map< std::string, Eigen::Affine3d > &joints)
	update a human configuration in move3d More...
std::vector< std::string >	humanList () const
	list of humans defined in the ROS parameter server More...
HumanSettingsPtr	getHumanSettings (const std::string &name)
	get the structure representing the settings for a human More...

Detailed Description

The HumanMgr class updates human configuration based on plugins.

The representation of humans can vary a lot between systems, according to sensors used and information needed. move3d_ros_lib uses a plugin system to manage the conversion from the input data to a full configuration usable inside move3d.

The motivation of the HumanMgr is that most often we don't know the configuration of humans from sensors, but in move3d we may need to infer them in order to do some computations (costs, affordances, collisions,...). The HumanMgr allows one to specify how a specific human have to be handled. Plus, the plugin architecture allows a developper to add a different policy fiting its specific needs.

Member Function Documentation

HumanSettingsPtr move3d::HumanMgr::getHumanSettings

(

const std::string &

name

)

get the structure representing the settings for a human

Parameters

name	name of the human (input/ROS name)

Returns

a pointer to a HumanSettings structure

std::vector< std::string > move3d::HumanMgr::humanList

(

)

const

list of humans defined in the ROS parameter server

Returns

See Also

updateParams()

bool move3d::HumanMgr::loadPlugins

(

)

load the plugins found by the pluginlib ClassLoader

Returns

bool move3d::HumanMgr::setHumanPos	(	const std::string &	name,
		const Eigen::Affine3d &	base,
		const std::map< std::string, Eigen::Affine3d > &	joints
	)

update a human configuration in move3d

Parameters

name	input (ROS) human name, the key of the human_mgmt dictionary in ROS parameter server
base	position of the base (1st joint), used only by the corresponding plugin
joints	joint positions, used only by the plugin

Returns

bool move3d::HumanMgr::updateParams

(

)

read the ROS parameter server to find settings

Returns

true if the parameter could be parsed successfully

searches in the nh namespace a dictionary called "human_mgmt". Its key are human names (in ROS, i.e. in the input) and data is another dictionary containing the following fields:

• move3d_name: the name of the human in move3d (p3d), it can be different from the ROS name
• policy: the name of the plugin to use
• data: a dictionary of floats given to the plugin. It contains user set parameters

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

• include/move3d_ros_lib/humanmgr.h
• src/humanmgr.cpp