A class to store track data. More...

#include <Track.h>

Collaboration diagram for Track:

Public Member Functions
	Track ()
	Constructor. More...

	~Track ()
	Destructor. More...

std::string	uint2hex (uint64_t number)
	Convert an unsigned int to hexadecimal. More...

void	set_state (uint64_t index, std::string state)
	Set the state of the latest tracklet. More...

void	set_current (uint64_t index, Detection smoothed)
	Set the current track position. More...

void	set_acceleration (uint64_t index, double acceleration)
	Set the current acceleration. More...

void	set_nInactive (uint64_t index, uint64_t n)
	Set the current inactivity. More...

uint64_t	get_nState (std::string state)
	Get number of tracks with specified state. More...

uint64_t	get_n ()
	Get number of total tracks. More...

Detection	get_current (uint64_t index)
	Get current track position for track index. More...

double	get_acceleration (uint64_t index)
	Get current acceleration for track index. More...

std::string	get_state (uint64_t index)
	Get current state for track index. More...

uint64_t	get_nInactive (uint64_t index)
	Get number of updates track has been tentative/coasting. More...

void	update (uint64_t index, Detection update)
	Update an associated detection. More...

uint64_t	add (Detection initial)
	Add track to the track set. More...

void	promote (uint64_t index, uint32_t m, uint32_t n)
	Promote track to state ACTIVE if applicable. More...

void	remove (uint64_t index)
	Remove track based on index. More...

std::string	to_json (uint64_t timestamp)
	Generate JSON of the map and metadata. More...

bool	save (std::string json, std::string path)
	Append the map to a save file. More...

Private Attributes
std::vector< std::string >	id
	Track ID (4 digit alpha-numeric). More...

std::vector< std::vector< std::string > >	state
	State history for each track. More...

std::vector< Detection >	current
	Curent track position. More...

std::vector< double >	acceleration
	Current acceleration (Hz/s). More...

std::vector< std::vector< Detection > >	associated
	Associated detections in track. More...

std::vector< uint64_t >	nInactive
	Number of updates the track has been tentative/coasting. More...

uint64_t	iNext
	Next valid track index. More...

Static Private Attributes
static const uint64_t	MAX_INDEX = 65535
	Maximum integer index to wrap around. More...

static const std::string	STATE_ACTIVE = "ACTIVE"
	String for state ACTIVE. More...

static const std::string	STATE_TENTATIVE = "TENTATIVE"
	String for state TENTATIVE. More...

static const std::string	STATE_COASTING = "COASTING"
	String for state COASTING. More...

static const std::string	STATE_ASSOCIATED = "ASSOCIATED"
	String for state ASSOCIATED. More...

Detailed Description

A class to store track data.

The ID is 4 digit hexadecimal with 16^4 = 65536 combinations.

The state can be TENTATIVE, ASSOCIATED, ACTIVE or COASTING.

TENTATIVE when a track is initialised.

TENTATIVE when an ASSOCIATED track fails to associate.

ASSOCIATED when a TENTATIVE track has an associated detection.

ACTIVE when track passes the promotion threshold.

COASTING when an ACTIVE track fails to associate.

Current track is used for smoothing output.

Author: 30hours

Todo:: I feel promote() should be implemented in the tracker.

Constructor & Destructor Documentation

◆ Track()

Track::Track ( )

Constructor.

Returns: The object.

◆ ~Track()

Track::~Track ( )

Destructor.

Returns: Void.

Member Function Documentation

◆ add()

uint64_t Track::add ( Detection initial )

Add track to the track set.

Parameters

initial Initial Detection.

ID is incremented automatically.

Initial state is always TENTATIVE.

Returns: Index of last track.

◆ get_acceleration()

double Track::get_acceleration ( uint64_t index )

Get current acceleration for track index.

Returns: Current acceleration (Hz/s).

◆ get_current()

Detection Track::get_current ( uint64_t index )

Get current track position for track index.

Returns: Current detection.

◆ get_n()

uint64_t Track::get_n ( )

Get number of total tracks.

Returns: Number of total tracks.

◆ get_nInactive()

uint64_t Track::get_nInactive ( uint64_t index )

Get number of updates track has been tentative/coasting.

Returns: Number of updates track has been tentative/coasting.

◆ get_nState()

uint64_t Track::get_nState ( std::string state )

Get number of tracks with specified state.

Parameters

state State to check.

Returns: Number of tracks with specified state.

◆ get_state()

std::string Track::get_state ( uint64_t index )

Get current state for track index.

Returns: Current state.

◆ promote()

void Track::promote	(	uint64_t	index,
		uint32_t	m,
		uint32_t	n
	)

Promote track to state ACTIVE if applicable.

Uses M of N rule for ACTIVE tracks.

Parameters

index Index of track to change.

Returns: Void.

◆ remove()

void Track::remove ( uint64_t index )

Remove track based on index.

Parameters

index Index of track to remove.

Returns: Void.

◆ save()

bool Track::save	(	std::string	json,
		std::string	path
	)

Append the map to a save file.

Parameters

json	JSON string of map and metadata.
path	Path of file to save.

Returns: True is save is successful.

◆ set_acceleration()

void Track::set_acceleration	(	uint64_t	index,
		double	acceleration
	)

Set the current acceleration.

Parameters

index	Index of track to change.
acceleration	Updated acceleration.

Returns: Void.

◆ set_current()

void Track::set_current	(	uint64_t	index,
		Detection	smoothed
	)

Set the current track position.

Use to update smoothed current position.

Parameters

index	Index of track to change.
smoothed	Updated state.

Returns: Void.

◆ set_nInactive()

void Track::set_nInactive	(	uint64_t	index,
		uint64_t	n
	)

Set the current inactivity.

Parameters

index	Index of track to change.
n	Updated inactivity index.

Returns: Void.

◆ set_state()

void Track::set_state	(	uint64_t	index,
		std::string	state
	)

Set the state of the latest tracklet.

Parameters

index	Index of track to change.
state	Updated state.

Returns: Void.

◆ to_json()

std::string Track::to_json ( uint64_t timestamp )

Generate JSON of the map and metadata.

Parameters

timestamp Current time (POSIX ms).

Returns: JSON string.

◆ uint2hex()

std::string Track::uint2hex ( uint64_t number )

Convert an unsigned int to hexadecimal.

Max number is 16^4 = 65536 before wrap around.

Parameters

number Number to convert to hexadecimal.

Returns: hex Hexadecimal number.

◆ update()

void Track::update	(	uint64_t	index,
		Detection	update
	)

Update an associated detection.

Parameters

index	Index of track to change.
update	New associated detection.

Returns: Void.

Member Data Documentation

◆ acceleration

std::vector<double> Track::acceleration

private

Current acceleration (Hz/s).

◆ associated

std::vector<std::vector<Detection> > Track::associated

private

Associated detections in track.

◆ current

std::vector<Detection> Track::current

private

Curent track position.

◆ id

std::vector<std::string> Track::id

private

Track ID (4 digit alpha-numeric).

◆ iNext

uint64_t Track::iNext

private

Next valid track index.

◆ MAX_INDEX

const uint64_t Track::MAX_INDEX = 65535

staticprivate

Maximum integer index to wrap around.

◆ nInactive

std::vector<uint64_t> Track::nInactive

private

Number of updates the track has been tentative/coasting.

Forms criteria for track deletion.

◆ state

std::vector<std::vector<std::string> > Track::state

private

State history for each track.

◆ STATE_ACTIVE

const std::string Track::STATE_ACTIVE = "ACTIVE"

staticprivate

String for state ACTIVE.

◆ STATE_ASSOCIATED

const std::string Track::STATE_ASSOCIATED = "ASSOCIATED"

staticprivate

String for state ASSOCIATED.

◆ STATE_COASTING

const std::string Track::STATE_COASTING = "COASTING"

staticprivate

String for state COASTING.

◆ STATE_TENTATIVE

const std::string Track::STATE_TENTATIVE = "TENTATIVE"

staticprivate

String for state TENTATIVE.

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

src/data/Track.h
src/data/Track.cpp

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Track()

◆ ~Track()

Member Function Documentation

◆ add()

◆ get_acceleration()

◆ get_current()

◆ get_n()

◆ get_nInactive()

◆ get_nState()

◆ get_state()

◆ promote()

◆ remove()

◆ save()

◆ set_acceleration()

◆ set_current()

◆ set_nInactive()

◆ set_state()

◆ to_json()

◆ uint2hex()

◆ update()

Member Data Documentation

◆ acceleration

◆ associated

◆ current

◆ id

◆ iNext

◆ MAX_INDEX

◆ nInactive

◆ state

◆ STATE_ACTIVE

◆ STATE_ASSOCIATED

◆ STATE_COASTING

◆ STATE_TENTATIVE