構造体 rcsc::LocalizeImpl

localization implementation [詳細]

すべてのメンバ一覧

Public メソッド

 LocalizeImpl (const SideID ourside)
 create landmark map and object table
const ObjectTableobjectTable () 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


説明

localization implementation


コンストラクタとデストラクタ

rcsc::LocalizeImpl::LocalizeImpl ( const SideID  ourside  )  [inline, explicit]

create landmark map and object table

引数:
ourside our team side


関数

const ObjectTable& rcsc::LocalizeImpl::objectTable (  )  const [inline]

get object table

戻り値:
const reference to the object table instance

void rcsc::LocalizeImpl::updateParticlesByMarkers ( const VisualSensor::MarkerCont &  markers,
const double &  self_face,
const double &  self_face_err 
)

update particles using seen markers

引数:
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

引数:
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

引数:
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

void rcsc::LocalizeImpl::getAverageOfParticles ( Vector2D ave_pos,
Vector2D ave_err 
)

calculate average point and error with all particles.

引数:
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

引数:
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

引数:
objtype used only to detect 'goal' or 'flag'
mypos estimated self coordinate
戻り値:
marker ID
This method is used to identify the behind marker object.

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

引数:
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

引数:
markers seen marker container
戻り値:
self face angle. if failed, retun VisualSensor::DIR_ERR

double rcsc::LocalizeImpl::getFaceDirByLines ( const VisualSensor::LineCont &  lines  ) 

estimate self global face angle from seen lines

引数:
lines seen line info
戻り値:
self face angle. if failed, retun VisualSensor::DIR_ERR


この構造体の説明は次のファイルから生成されました:
librcscに対してThu May 1 15:41:27 2008に生成されました。  doxygen 1.5.0