This class is the base class for all tracker allowing to track an object or location. More...

#include <ObjectTracker.h>

Inheritance diagram for Ocean::Devices::ObjectTracker:

Public Member Functions
virtual ObjectId	registerObject (const std::string &description, const Vector3 &dimension=Vector3(0, 0, 0))
	Registers (adds) a new object to be tracked.

virtual bool	unregisterObject (const ObjectId objectId)
	Unregisters (removes) a previously registered object.

Public Member Functions inherited from Ocean::Devices::Tracker
virtual Frequency	frequency () const
	Returns the frequency of this tracker.

virtual bool	isObjectTracked (const ObjectId &objectId) const
	Returns whether a specific object is currently actively tracked by this tracker.

TrackerObjectEventSubscription	subscribeTrackerObjectEvent (TrackerObjectCallback &&callback)
	Subscribes a callback event function for tracker object (found or lost) events.

virtual HomogenousMatrixD4	reference () const
	Returns the reference coordinate system of this tracker.

Public Member Functions inherited from Ocean::Devices::Measurement
size_t	sampleCapacity () const
	Returns the capacity of the internal sample container.

bool	setSampleCapacity (const size_t capacity)
	Sets the capacity of the internal sample container.

virtual SampleRef	sample () const
	Returns the most recent sample.

virtual SampleRef	sample (const Timestamp timestamp) const
	Returns the sample with a specific timestamp.

virtual SampleRef	sample (const Timestamp &timestamp, const InterpolationStrategy interpolationStrategy) const
	Returns the sample best matching with a specified timestamp.

SampleEventSubscription	subscribeSampleEvent (SampleCallback &&callback)
	Subscribes a callback event function for new measurement sample events.

ObjectId	objectId (const std::string &description) const
	Returns the object id for an object description.

Strings	objectDescriptions () const
	Returns descriptions of all objects currently available.

std::string	objectDescription (const ObjectId objectId) const
	Returns the description of one object of this measurement.

Public Member Functions inherited from Ocean::Devices::Device
const std::string &	name () const
	Returns the name of this device.

virtual const std::string &	library () const =0
	Returns the name of the owner library.

virtual bool	isStarted () const
	Returns whether this device is active.

bool	isValid () const
	Returns whether this device is valid.

bool	isExclusive () const
	Returns whether this device can be use exclusively.

virtual bool	start ()
	Starts the device.

virtual bool	pause ()
	Pauses the device.

virtual bool	stop ()
	Stops the device.

virtual bool	setParameter (const std::string &parameter, const Value &value)
	Sets an abstract parameter of this device.

virtual bool	parameter (const std::string &parameter, Value &value)
	Returns an abstract parameter of this device.

DeviceType	type () const
	Returns the major and minor type of this device.

Protected Member Functions
	ObjectTracker (const std::string &name, const DeviceType type)
	Creates a new object tracker object.

	~ObjectTracker () override
	Destructs an object tracker object.

Protected Member Functions inherited from Ocean::Devices::Tracker
	Tracker (const std::string &name, const DeviceType type)
	Creates a new tracker object.

	~Tracker () override
	Destructs a tracker object.

void	postFoundTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new found tracker objects event.

void	postLostTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new lost tracker objects event.

void	unsubscribeTrackerObjectEvent (const SubscriptionId subscriptionId)
	Unsubscribes a tracker object event callback function.

Protected Member Functions inherited from Ocean::Devices::Measurement
	Measurement (const std::string &name, const DeviceType type)
	Creates a new measurement object.

	~Measurement () override
	Destructs a measurement object.

void	postNewSample (const SampleRef &newSample)
	Posts a new measurement sample.

ObjectId	addUniqueObjectId (const std::string &description)
	Creates a unique object id for a new object (e.g., a tracking object like an image, a marker, or a location).

void	unsubscribeSampleEvent (const SubscriptionId subscriptionId)
	Unsubscribes a sample event callback function.

Protected Member Functions inherited from Ocean::Devices::Device
	Device (const Device &device)=delete
	Disabled copy constructor.

	Device (const std::string &name, const DeviceType type)
	Creates a new device by is name.

virtual	~Device ()
	Destructs a device.

Device &	operator= (const Device &device)=delete
	Disabled copy operator.

Additional Inherited Members
Public Types inherited from Ocean::Devices::Tracker
enum	TrackerType : uint32_t { TRACKER_INVALID = MINOR_INVALID , TRACKER_ORIENTATION_3DOF = (1u << 0u) , TRACKER_POSITION_3DOF = (1u << 1u) , TRACKER_6DOF = TRACKER_ORIENTATION_3DOF \| TRACKER_POSITION_3DOF , SCENE_TRACKER_6DOF = (1u << 2u) \| TRACKER_6DOF , TRACKER_GPS = (1u << 3u) , TRACKER_MAGNETIC = (1u << 4u) , TRACKER_VISUAL = (1u << 5u) , TRACKER_OBJECT = (1u << 6u) }
	Definition of different minor device types. More...

enum	ReferenceSystem { RS_OBJECT_IN_DEVICE , RS_DEVICE_IN_OBJECT }
	Definition of different tracking reference system. More...

typedef float	Frequency
	Definition of a tracker frequency in Hz.

typedef SmartObjectRef< TrackerSample, Sample >	TrackerSampleRef
	Definition of a smart object reference for tracker samples.

typedef Callback< void, const Tracker *, const bool, const ObjectIdSet &, const Timestamp & >	TrackerObjectCallback
	Definition of a callback function to subscribe for lost and found tracker events.

Public Types inherited from Ocean::Devices::Measurement
enum	InterpolationStrategy { IS_INVALID , IS_TIMESTAMP_NEAREST , IS_TIMESTAMP_INTERPOLATE }
	Definition of individual interpolation strategies for samples. More...

using	ObjectId = unsigned int
	Definition of an object id.

using	ObjectIds = std::vector< ObjectId >
	Definition of a vector holding object ids.

using	ObjectIdSet = std::unordered_set< ObjectId >
	Definition of an unordered set holding object ids.

using	Metadata = std::unordered_map< std::string, Value >
	Definition of an unordered map mapping keys to values.

using	SampleRef = ObjectRef< Sample >
	Definition of an object reference for samples.

using	SampleCallback = Callback< void, const Measurement *, const SampleRef & >
	Definition of a callback function to subscribe for new measurement sample events.

Public Types inherited from Ocean::Devices::Device
enum	MajorType : uint32_t { DEVICE_INVALID = 0u , DEVICE_MEASUREMENT = (1u << 0u) , DEVICE_SENSOR = (1u << 1u) \| DEVICE_MEASUREMENT , DEVICE_TRACKER = (1u << 2u) \| DEVICE_MEASUREMENT }
	Definition of all major device types. More...

enum	MinorType : uint32_t { MINOR_INVALID = 0u }
	Base definition of a minor type. More...

Static Public Member Functions inherited from Ocean::Devices::Tracker
static std::string	translateTrackerType (const TrackerType trackerType)
	Translates the tracker type to a readable string.

static TrackerType	translateTrackerType (const std::string &trackerType)
	Translates the tracker type from a readable string to a value.

static constexpr Frequency	unknownFrequency ()
	Definition of a constant as unknown frequency.

Static Public Member Functions inherited from Ocean::Devices::Measurement
static constexpr ObjectId	invalidObjectId ()
	Returns an invalid object id.

Static Public Member Functions inherited from Ocean::Devices::Device
static std::string	translateMajorType (const MajorType majorType)
	Translates the major devices type to a readable string.

static MajorType	translateMajorType (const std::string &majorType)
	Translates the major devices type from a readable string to a value.

Protected Types inherited from Ocean::Devices::Tracker
typedef std::unordered_map< SubscriptionId, TrackerObjectCallback >	TrackerObjectSubscriptionMap
	Definition of a map mapping subscription ids to tracker object event callback functions.

Protected Types inherited from Ocean::Devices::Measurement
using	SampleMap = std::map< Timestamp, SampleRef >
	Definition of a map holding the most recent samples.

using	ObjectDescriptionToIdMap = std::unordered_map< std::string, ObjectId >
	Definition of an unordered map mapping descriptions to unique object ids.

using	ObjectIdToDescriptionMap = std::unordered_map< ObjectId, std::string >
	Definition of an unordered map mapping unique object ids to descriptions.

using	SampleSubscriptionMap = std::unordered_map< SubscriptionId, SampleCallback >
	Definition of a map mapping subscription ids to event sample callback functions.

Protected Types inherited from Ocean::Devices::Device
typedef unsigned int	SubscriptionId
	Definition of a subscription id for event callbacks.

Static Protected Member Functions inherited from Ocean::Devices::Tracker
static ObjectIdSet	determineFoundObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

static ObjectIdSet	determineLostObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Static Protected Member Functions inherited from Ocean::Devices::Device
static constexpr SubscriptionId	invalidSubscriptionId ()
	Returns an invalid subscription id.

Protected Attributes inherited from Ocean::Devices::Tracker
TrackerObjectSubscriptionMap	trackerObjectSubscriptionMap_
	Map holding all tracker object event subscriptions.

SubscriptionId	nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)
	The subscription id of the next event subscription.

Protected Attributes inherited from Ocean::Devices::Measurement
Lock	samplesLock_
	Sample lock.

Lock	subscriptionLock_
	Subscription lock.

Protected Attributes inherited from Ocean::Devices::Device
std::string	deviceName
	Name of this device.

DeviceType	deviceType
	Major and minor type of this device.

bool	deviceIsValid
	Flag determining whether this device is valid.

Lock	deviceLock
	Device lock.

Detailed Description

This class is the base class for all tracker allowing to track an object or location.

Constructor & Destructor Documentation

◆ ObjectTracker()

Ocean::Devices::ObjectTracker::ObjectTracker	(	const std::string &	name,
		const DeviceType	type
	)

protected

Creates a new object tracker object.

Parameters

name	The name of the tracker
type	Major and minor device type of the device

◆ ~ObjectTracker()

Ocean::Devices::ObjectTracker::~ObjectTracker ( )

overrideprotected

Destructs an object tracker object.

Member Function Documentation

◆ registerObject()

virtual ObjectId Ocean::Devices::ObjectTracker::registerObject	(	const std::string &	description,
		const Vector3 &	dimension = `Vector3(0, 0, 0)`
	)

virtual

Registers (adds) a new object to be tracked.

The object can be e.g., a unique mark, an image, a feature map, or a location.

Parameters

description	The information describing the object, e.g., a filename, or an id, or a location
dimension	The dimension of the object if known, e.g. a 1D or 2D sizeof of a marker, can be zero if unknown