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Chair for Computer Aided Medical Procedures & Augmented Reality Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

KalmanService Class Reference

Inheritance diagram for KalmanService:

[legend]Collaboration diagram for KalmanService:

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Public Member Functions
	KalmanService ()
virtual	~KalmanService ()
void	startService (DWARF::ActiveServiceDescription_ptr pServiceDesc)
virtual CORBA::Object_ptr	createNeedObject (DWARF::NeedDescription_ptr pNeedDescr)
DWARF::PoseData *	getPoseData (const DWARF::Time &timeStamp)
Protected Member Functions
void	onEvent (const DWARF::PoseData &rPose)
Protected Attributes
std::vector< DWARF::InternalEvents::InternalEventReceiver< DWARF::PoseData > * >	m_Receivers
DWARF::UTPoseDataSyncPull_tie< KalmanService >	m_Tie
omni_mutex	m_EKFMutex
std::auto_ptr< PoseEKF::MotionModel >	m_pMoMo
std::auto_ptr< PoseEKF >	m_pEKF
int	m_nReceivedEvents

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Detailed Description

The Kalman service, derived from TemplateService The service has one UTPoseDataSyncPull ability, and one or more PushConsumer needs

Author:

Daniel Pustka <pustka@in.tum.de>

Definition at line 45 of file Kalman.h.

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Constructor & Destructor Documentation

KalmanService::KalmanService (   )

constructor Definition at line 30 of file Kalman.cpp.

KalmanService::~KalmanService (   )  [virtual]

destructor Definition at line 55 of file Kalman.cpp.

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Member Function Documentation

CORBA::Object_ptr KalmanService::createNeedObject (  DWARF::NeedDescription_ptr  pNeedDescr  )  [virtual]

main TemplateService interface Reimplemented from TemplateService. Definition at line 118 of file Kalman.cpp.

DWARF::PoseData * KalmanService::getPoseData (  const DWARF::Time &  timeStamp  )

implements UTPoseDataSyncPull interface Definition at line 145 of file Kalman.cpp.

void KalmanService::onEvent (  const DWARF::PoseData &  rPose  )  [protected]

for getting events from the inputs Definition at line 168 of file Kalman.cpp.

void KalmanService::startService (  DWARF::ActiveServiceDescription_ptr  pServiceDesc  )

called by the service manager, reads attributes from service description, calls TemplateService Reimplemented from TemplateService. Definition at line 65 of file Kalman.cpp.

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Field Documentation

omni_mutex KalmanService::m_EKFMutex [protected]

mutex protecting the kalman filter Definition at line 72 of file Kalman.h.

int KalmanService::m_nReceivedEvents [protected]

number of received events Definition at line 81 of file Kalman.h.

std::auto_ptr< PoseEKF > KalmanService::m_pEKF [protected]

the kalman filter Definition at line 78 of file Kalman.h.

std::auto_ptr< PoseEKF::MotionModel > KalmanService::m_pMoMo [protected]

motion model for the kalman filter Definition at line 75 of file Kalman.h.

std::vector< DWARF::InternalEvents::InternalEventReceiver< DWARF::PoseData >* > KalmanService::m_Receivers [protected]

vector of all InternalEventReceivers Definition at line 66 of file Kalman.h.

DWARF ::UTPoseDataSyncPull_tie< KalmanService > KalmanService::m_Tie [protected]

tie object for ObjRefExporter ability Definition at line 69 of file Kalman.h.

KalmanService Class Reference | generated on Sun Apr 29 02:01:10 2007 by Doxygen 1.4.1 for DWARF