added sampling blocks definition reader

Author: cassinaj

source/dbrt/tracker/rotary_tracker.h

@@ -65,6 +65,7 @@ class RotaryTracker : public RobotTracker
     // Belief representation of a single joint, i.e. a Gaussian
     typedef typename JointFilter::Belief JointBelief;
 
+    // Belief distribution of a single joint
     typedef fl::Gaussian<Eigen::Matrix<fl::Real, 1, 1>> AngleBelief;
 
 public:
@@ -120,10 +121,11 @@ class RotaryTracker : public RobotTracker
      */
     State current_state() const;
 
+    /**
+     * Callback function to apply the filter for the given joint state message
+     */
     void track_callback(const sensor_msgs::JointState& joint_msg);
 
-    /* const std::vector<int>& joint_order() const; */
-
 private:
     /* std::vector<int> joint_order_; */
     std::shared_ptr<KinematicsFromURDF> kinematics_;

source/dbrt/tracker/visual_tracker_factory.cpp

@@ -38,6 +38,14 @@
 
 namespace dbrt
 {
+//     typedef std::vector<std::map<std::string, std::vector<std::string>>>
+//     SamplingBlocksDefinition;
+// void load_sampling_block_definition(
+//     SamplingBlocksDefinition& sampling_blocks_definition)
+// {
+    
+// }
+
 /**
  * \brief Create a particle filter tracking the robot joints based on depth
  *     images measurements
@@ -148,6 +156,7 @@ std::shared_ptr<dbrt::VisualTracker> create_visual_tracker(
         ri::read<double>(prefix + "moving_average_update_rate", nh);
     tracker_parameters.max_kl_divergence =
         ri::read<double>(prefix + "max_kl_divergence", nh);
+
     tracker_parameters.sampling_blocks =
         ri::read<std::vector<std::vector<int>>>(prefix + "sampling_blocks", nh);
 
@@ -165,7 +174,6 @@ std::shared_ptr<dbrt::VisualTracker> create_visual_tracker(
     /* - Initialize tracker         - */
     /* ------------------------------ */
 
-
     std::vector<Eigen::VectorXd> initial_states_vectors = {
         kinematics->sensor_msg_to_eigen(*joint_state)};
     std::vector<dbrt::RobotState<>> initial_states;