Public メソッド | |
LocalizeImpl (const SideID ourside) | |
create landmark map and object table | |
const ObjectTable & | objectTable () const |
get object table | |
const std::vector< Vector2D > & | particles () const |
void | updateParticlesByMarkers (const VisualSensor::MarkerCont &markers, const double &self_face, const double &self_face_err) |
update particles using seen markers | |
void | updateParticlesByBehindMarker (const VisualSensor::MarkerCont &behind_markers, const Vector2D &self_pos, const double &self_face, const double &self_face_err) |
update particles using seen markers | |
void | updateParticlesBy (const VisualSensor::MarkerT &marker, const MarkerID id, const double &self_face, const double &self_face_err) |
update particles by one marker | |
void | getAverageOfParticles (Vector2D *ave_pos, Vector2D *ave_err) |
calculate average point and error with all particles. | |
void | generateParticles (const VisualSensor::MarkerT &marker, const MarkerID id, const double &self_face, const double &self_face_err) |
generate first particles using nearest marker | |
MarkerID | getNearestMarker (const VisualSensor::ObjectType objtype, const Vector2D &mypos) const |
get nearest marker flag Id. include goal check | |
void | getDirRange (const double &seen_dir, const double &self_face, const double &self_face_err, double *average, double *err) |
get global angle & angle range | |
double | getFaceDirByMarkers (const VisualSensor::MarkerCont &markers) |
estimate self global face angle from seen markers | |
double | getFaceDirByLines (const VisualSensor::LineCont &lines) |
estimate self global face angle from seen lines |
rcsc::LocalizeImpl::LocalizeImpl | ( | const SideID | ourside | ) | [inline, explicit] |
create landmark map and object table
ourside | our team side |
const ObjectTable& rcsc::LocalizeImpl::objectTable | ( | ) | const [inline] |
get object table
void rcsc::LocalizeImpl::updateParticlesByMarkers | ( | const VisualSensor::MarkerCont & | markers, | |
const double & | self_face, | |||
const double & | self_face_err | |||
) |
update particles using seen markers
markers | seen marker container | |
self_face | agent's global face angle | |
self_face_err | agent's global face angle error |
void rcsc::LocalizeImpl::updateParticlesByBehindMarker | ( | const VisualSensor::MarkerCont & | behind_markers, | |
const Vector2D & | self_pos, | |||
const double & | self_face, | |||
const double & | self_face_err | |||
) |
update particles using seen markers
behind_markers | feeled behind marker container | |
self_pos | agent's global position | |
self_face | agent's global face angle | |
self_face_err | agent's global face angle error |
void rcsc::LocalizeImpl::updateParticlesBy | ( | const VisualSensor::MarkerT & | marker, | |
const MarkerID | id, | |||
const double & | self_face, | |||
const double & | self_face_err | |||
) |
update particles by one marker
marker | seen marker info | |
id | estimated marker's Id | |
self_face | agent's global face angle | |
self_face_err | agent's global face angle error |
calculate average point and error with all particles.
ave_pos | pointer to the variable to store the averaged point | |
ave_err | pointer to the variable to store the averaged point error |
void rcsc::LocalizeImpl::generateParticles | ( | const VisualSensor::MarkerT & | marker, | |
const MarkerID | id, | |||
const double & | self_face, | |||
const double & | self_face_err | |||
) |
generate first particles using nearest marker
marker | seen marker info | |
id | estimated marker Id | |
self_face | agent's global face angle | |
self_face_err | agent's global face angle error |
MarkerID rcsc::LocalizeImpl::getNearestMarker | ( | const VisualSensor::ObjectType | objtype, | |
const Vector2D & | mypos | |||
) | const |
get nearest marker flag Id. include goal check
objtype | used only to detect 'goal' or 'flag' | |
mypos | estimated self coordinate |
void rcsc::LocalizeImpl::getDirRange | ( | const double & | seen_dir, | |
const double & | self_face, | |||
const double & | self_face_err, | |||
double * | average, | |||
double * | err | |||
) |
get global angle & angle range
seen_dir | seen dir | |
self_face | agent's global face angle | |
self_face_err | agent's global face angle error | |
average | pointer to the variable to store the averaged angle | |
err | pointer to the variable to store the estimated angle error. |
double rcsc::LocalizeImpl::getFaceDirByMarkers | ( | const VisualSensor::MarkerCont & | markers | ) |
estimate self global face angle from seen markers
markers | seen marker container |
double rcsc::LocalizeImpl::getFaceDirByLines | ( | const VisualSensor::LineCont & | lines | ) |
estimate self global face angle from seen lines
lines | seen line info |