Class PredictGoalROS

Defined in File predict_goal_ros.h

Class Documentation

class PredictGoalROS

ROS wrapper for the Bayesian goal prediction system.

Public Functions

PredictGoalROS(): Default constructor, initializes ROS communication.

~PredictGoalROS() = default: Default destructor.

Private Functions

void trackedAgentsCB(const cohan_msgs::TrackedAgents::ConstPtr &msg)

Callback for tracked agents updates. This method processes incoming tracked agents data and updates the internal state.

Parameters:: msg – Message containing tracked agents data

bool loadGoals(const std::string &file)

Load goal positions from a YAML file. This method reads goal positions from the specified YAML file and populates the goals map.

Parameters:: file – Path to the YAML file containing goals
Returns:: True if goals were loaded successfully, false otherwise

void loadRosParamFromNodeHandle(const ros::NodeHandle &private_nh)

Loads ROS parameters from the node handle.

Parameters:: private_nh – Private node handle containing parameters

Private Members

ros::Subscriber agents_sub_: Subscriber for tracked agents updates.

ros::Publisher goal_pub_: Publisher for predicted goals.

agents::BayesianGoalPrediction predictor_: Instance of the Bayesian goal prediction algorithm.

std::map<std::string, Eigen::Vector2d> goals_: Map of goal names to their positions.

std::map<int, std::string> agent_goal_predicts_: Map of agent IDs to their predicted goals.

int window_size_: Size of the sliding window used for predictions.

std::string tracked_agents_sub_topic_

std::string predicted_goal_topic_: ROS topic names for subscribers and publishers.

std::string ns_: Namespace for the node.

std::string goals_file_: File name of the env goals.