#include <BB2004Calibrator.h>
Inheritance diagram for BB2004Calibrator:
Definition at line 98 of file BB2004Calibrator.h.
anonymous enum [private] |
numOfIndividuals | The number of individuals in the population. |
waitPerGeneration | The time to wait per generation in ms. |
Definition at line 139 of file BB2004Calibrator.h.
BB2004Calibrator::BB2004Calibrator | ( | const SensorBehaviorControlInterfaces & | interfaces | ) |
Constructor.
interfaces | The parameters of the BB2004Calibrator module. |
Definition at line 82 of file BB2004Calibrator.cpp.
References count, and numOfIndividuals.
void BB2004Calibrator::evolve | ( | const SensorData & | sensorData | ) | [private] |
The function performs a single evolution step.
sensorData | The sensor data with the same time stamp as the image in "imageBuffer". |
Definition at line 145 of file BB2004Calibrator.cpp.
References abs(), Statistics::analyze(), RobotVertices::bodyRoll, BodyPosture::bodyRollCalculatedFromLegSensors, RobotVertices::bodyTilt, BodyPosture::bodyTiltCalculatedFromLegSensors, LinesPercept::border, Kinematics::calcNeckAndLegPositions(), Kinematics::calculateCameraMatrix(), cameraMatrix, count, SensorData::data, CalibrationIndividual::dump(), evolutions, GT2004ImageProcessor::execute(), BBPopulation< T >::extrapolate(), OutMessage::finishMessage(), fitness, fromMicroRad(), SystemCall::getCurrentSystemTime(), getDebugOut(), CalibrationIndividual::getFitness(), BBPopulation< T >::getFittest(), BBPopulation< T >::getStatistics(), SystemCall::getTimeSince(), SensorData::headPan, SensorData::headTilt, idText, imageProcessor, BBPopulation< T >::interpolate(), linesPercept, RobotVertices::neckHeight, BodyPosture::neckHeightCalculatedFromLegSensors, SensorData::neckTilt, LinesPercept::numberOfPoints, numOfIndividuals, LinesTables2004::observationTable, OUTPUT, LinesPercept::points, population, OutMessage::text, text, timeStamp, waitPerGeneration, and Vector2< V >::y.
Referenced by execute().
void BB2004Calibrator::execute | ( | ) | [virtual] |
The function executes the module.
Implements Module.
Definition at line 110 of file BB2004Calibrator.cpp.
References RingBuffer< V, n >::add(), buffer, evolutions, evolve(), SensorDataBuffer::frame, Image::frameNumber, SystemCall::getCurrentSystemTime(), RingBuffer< V, n >::getNumberOfEntries(), HeadControlMode::headControlMode, SensorBehaviorControlInterfaces::headControlMode, ifdef(), SensorBehaviorControlInterfaces::image, imageBuffer, HeadControlMode::lookParallelToGround, SensorBehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, TailRequest::noTailWag, SensorDataBuffer::numOfFrames, SensorBehaviorControlInterfaces::sensorDataBuffer, MotionRequest::tailRequest, TailRequest::tailRequestID, timeStamp, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, and WalkRequest::walkType.
bool BB2004Calibrator::handleMessage | ( | InMessage & | message | ) | [virtual] |
The function handles messages sent to the module.
message | A message. |
Reimplemented from Module.
Definition at line 214 of file BB2004Calibrator.cpp.
BallModel BB2004Calibrator::ballModel [private] |
A dummy ball model for the image processor.
Definition at line 123 of file BB2004Calibrator.h.
BallPercept BB2004Calibrator::ballPercept [private] |
A dummy ball percept for the image processor.
Definition at line 128 of file BB2004Calibrator.h.
RingBuffer<SensorData, 16> BB2004Calibrator::buffer [private] |
A buffer for the sensor data of the previous 16 frames.
Definition at line 136 of file BB2004Calibrator.h.
Referenced by execute().
A dummy calibration request for the image processor.
Definition at line 126 of file BB2004Calibrator.h.
CameraMatrix BB2004Calibrator::cameraMatrix [private] |
The camera matrix that will be set for the image processor.
Reimplemented from SensorBehaviorControlInterfaces.
Definition at line 120 of file BB2004Calibrator.h.
Referenced by evolve().
int BB2004Calibrator::count[numOfIndividuals] [private] |
Variables that count how many fitnesses have been accumulated in "fitnesses".
Definition at line 150 of file BB2004Calibrator.h.
Referenced by BB2004Calibrator(), and evolve().
EdgesPercept BB2004Calibrator::edgesPercept [private] |
The edges percept that will be returned by image processor.
Definition at line 131 of file BB2004Calibrator.h.
int BB2004Calibrator::evolutions [private] |
A counter for the number of evolutions.
Definition at line 150 of file BB2004Calibrator.h.
Vector2<double> BB2004Calibrator::fitness[numOfIndividuals] [private] |
The accumulated (temporary) fitnesses of the individuals.
Definition at line 149 of file BB2004Calibrator.h.
Referenced by evolve().
Another dummy.
Definition at line 130 of file BB2004Calibrator.h.
Image BB2004Calibrator::imageBuffer [private] |
A buffer for the previous image.
Definition at line 138 of file BB2004Calibrator.h.
Referenced by execute().
The standard image processor used for calibration.
Definition at line 135 of file BB2004Calibrator.h.
Referenced by evolve().
A dummy landmark percept for the image processor.
Definition at line 127 of file BB2004Calibrator.h.
LinesPercept BB2004Calibrator::linesPercept [private] |
The lines percept that will be returned by image processor.
Definition at line 129 of file BB2004Calibrator.h.
Referenced by evolve().
A dummy obstacles percept for the image processor.
Definition at line 133 of file BB2004Calibrator.h.
A dummy player pose collection for the image processor.
Definition at line 124 of file BB2004Calibrator.h.
A dummy players percept for the image processor.
Definition at line 132 of file BB2004Calibrator.h.
The population of individuals.
Definition at line 148 of file BB2004Calibrator.h.
Referenced by evolve().
RobotPose BB2004Calibrator::robotPose [private] |
A dummy robot pose for the image processor.
Definition at line 122 of file BB2004Calibrator.h.
RobotState BB2004Calibrator::robotState [private] |
A dummy robot state for the image processor.
Reimplemented from SensorBehaviorControlInterfaces.
Definition at line 125 of file BB2004Calibrator.h.
SLAMData BB2004Calibrator::slamData [private] |
Definition at line 137 of file BB2004Calibrator.h.
A dummy special percept for the image processor.
Definition at line 134 of file BB2004Calibrator.h.
A dummy taskvision data pose for the image processor.
Definition at line 121 of file BB2004Calibrator.h.
unsigned BB2004Calibrator::timeStamp [private] |
The beginning of the current evaluation of the individuals.
Definition at line 152 of file BB2004Calibrator.h.