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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:

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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::PoseDatagetPoseData (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::MotionModelm_pMoMo
std::auto_ptr< PoseEKFm_pEKF
int m_nReceivedEvents

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.


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.


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.


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