HumanFilter Class Reference

The HumanFilter class can be used to track and filter the state of a single human. More...

#include <armarx/navigation/human/HumanFilter.h>

Classes
struct	Parameters

Public Member Functions
Duration	detectionAge (const DateTime &currentTime) const
const Human &	get () const
	HumanFilter::get returns the human whose pose is filtered containing the most recent state. More...
	HumanFilter (const core::Pose2D &pose0, const DateTime &detectionTime, bool useKalmanFilter)
	HumanFilter::HumanFilter creates a new filter that filters 2D poses (position and rotation in a two dimensional plane) More...
void	propagation (const DateTime &detectionTime)
	HumanFilter::propagation propagate the system model to the given point in time. More...
void	update (const core::Pose2D &pose, const DateTime &detectionTime)
	HumanFilter::update update the filter a new detected pose of the tracked human and the detection time. More...

Detailed Description

The HumanFilter class can be used to track and filter the state of a single human.

It hides implementation detail on how the filtering is done. New information about the human can be fed by using the update method. The human itself can be obtained using the get method.

Definition at line 38 of file HumanFilter.h.

Constructor & Destructor Documentation

HumanFilter()

HumanFilter	(	const core::Pose2D &	pose0,
		const DateTime &	detectionTime,
		bool	useKalmanFilter
	)

HumanFilter::HumanFilter creates a new filter that filters 2D poses (position and rotation in a two dimensional plane)

Parameters

pose0	the first known pose of the human
detectionTime	the point of detection

Definition at line 6 of file HumanFilter.cpp.

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Member Function Documentation

detectionAge()

Duration detectionAge

(

const DateTime &

currentTime

)

const

Definition at line 104 of file HumanFilter.cpp.

get()

const Human & get

(

)

const

HumanFilter::get returns the human whose pose is filtered containing the most recent state.

Returns

the human

Definition at line 98 of file HumanFilter.cpp.

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propagation()

void propagation

(

const DateTime &

detectionTime

)

HumanFilter::propagation propagate the system model to the given point in time.

This means that the human pose is updated according to the filters prediction for the given point in time. Should be called at most once between every two calls of HumanFilter::update.

Parameters

detectionTime

the point in time for which the pose should be predicted

Definition at line 42 of file HumanFilter.cpp.

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update()

void update	(	const core::Pose2D &	pose,
		const DateTime &	detectionTime
	)

HumanFilter::update update the filter a new detected pose of the tracked human and the detection time.

Parameters

pose	the new detected pose of the human
detectionTime	the detection time

Definition at line 59 of file HumanFilter.cpp.

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

• armarx/navigation/human/HumanFilter.h
• armarx/navigation/human/HumanFilter.cpp