GlobalAlignment Class Reference

#include <GlobalAlignment.h>

List of all members.

Public Member Functions

 GlobalAlignment ()
void reset ()
void aquire (LocalAlignment &newAlignment)
void execute ()
void match ()
void estimateSize ()
void computePosition ()
void visualizeMatch (Image &debugImage)

Public Attributes

LocalAlignment history [HISTORY_BUFFER]
int historyLength
int historyOldestAlignmentUsed
double seenOffset [HISTORY_BUFFER]
bool seenOffsetValid [HISTORY_BUFFER]
double worldSeen [MAX_SECTORS]
double worldSeenSmoothed [MAX_SECTORS]
double seenSize [MAX_SECTORS]
double matchSlope
double matchAverage
double scaleSlope
double scaleAverage
RobotPose estimatedPose
RobotPose estimatedValidity


Detailed Description

Definition at line 15 of file GlobalAlignment.h.


Constructor & Destructor Documentation

GlobalAlignment::GlobalAlignment (  ) 

Definition at line 12 of file GlobalAlignment.cpp.

References reset().


Member Function Documentation

void GlobalAlignment::aquire ( LocalAlignment newAlignment  ) 

Definition at line 26 of file GlobalAlignment.cpp.

References history, HISTORY_BUFFER, historyLength, LocalAlignment::length, min, and LocalAlignment::path.

void GlobalAlignment::computePosition (  ) 

Definition at line 323 of file GlobalAlignment.cpp.

References estimatedPose, historyLength, historyOldestAlignmentUsed, matchAverage, matchSlope, max, PI, Pose2D::rotation, scaleSlope, SECTORS, RobotPose::setValidity(), Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().

void GlobalAlignment::estimateSize (  ) 

Definition at line 295 of file GlobalAlignment.cpp.

References convolve_gaussian(), linearRegress(), matchAverage, matchSlope, MAX_SECTORS, scaleAverage, scaleSlope, SECTORS, seenSize, worldSeen, and worldSeenSmoothed.

Referenced by execute().

void GlobalAlignment::execute (  ) 

Definition at line 20 of file GlobalAlignment.cpp.

References computePosition(), estimateSize(), and match().

void GlobalAlignment::match (  ) 

Definition at line 35 of file GlobalAlignment.cpp.

References abs(), history, historyLength, historyOldestAlignmentUsed, LocalAlignment::length, MAX_SECTORS, min, OFFSET_RANGE, LocalAlignment::path, SECTORS, SEEK_STEPS, seenOffset, seenOffsetValid, sqr, worldSeen, and Vector2< V >::x.

Referenced by execute().

void GlobalAlignment::reset (  ) 

Definition at line 16 of file GlobalAlignment.cpp.

References historyLength.

Referenced by GlobalAlignment().

void GlobalAlignment::visualizeMatch ( Image debugImage  ) 

Definition at line 139 of file GlobalAlignment.cpp.

References cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, Image::image, int(), SECTORS, seenSize, worldSeen, and worldSeenSmoothed.


Member Data Documentation

RobotPose GlobalAlignment::estimatedPose

Definition at line 30 of file GlobalAlignment.h.

Referenced by computePosition().

RobotPose GlobalAlignment::estimatedValidity

Definition at line 31 of file GlobalAlignment.h.

LocalAlignment GlobalAlignment::history[HISTORY_BUFFER]

Definition at line 19 of file GlobalAlignment.h.

Referenced by aquire(), and match().

int GlobalAlignment::historyLength

Definition at line 20 of file GlobalAlignment.h.

Referenced by aquire(), computePosition(), match(), and reset().

int GlobalAlignment::historyOldestAlignmentUsed

Definition at line 20 of file GlobalAlignment.h.

Referenced by computePosition(), and match().

double GlobalAlignment::matchAverage

Definition at line 27 of file GlobalAlignment.h.

Referenced by computePosition(), and estimateSize().

double GlobalAlignment::matchSlope

Definition at line 27 of file GlobalAlignment.h.

Referenced by computePosition(), and estimateSize().

double GlobalAlignment::scaleAverage

Definition at line 28 of file GlobalAlignment.h.

Referenced by estimateSize().

double GlobalAlignment::scaleSlope

Definition at line 28 of file GlobalAlignment.h.

Referenced by computePosition(), and estimateSize().

double GlobalAlignment::seenOffset[HISTORY_BUFFER]

Definition at line 21 of file GlobalAlignment.h.

Referenced by match().

bool GlobalAlignment::seenOffsetValid[HISTORY_BUFFER]

Definition at line 22 of file GlobalAlignment.h.

Referenced by match().

double GlobalAlignment::seenSize[MAX_SECTORS]

Definition at line 25 of file GlobalAlignment.h.

Referenced by estimateSize(), and visualizeMatch().

double GlobalAlignment::worldSeen[MAX_SECTORS]

Definition at line 23 of file GlobalAlignment.h.

Referenced by estimateSize(), match(), and visualizeMatch().

double GlobalAlignment::worldSeenSmoothed[MAX_SECTORS]

Definition at line 24 of file GlobalAlignment.h.

Referenced by estimateSize(), and visualizeMatch().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:32:30 2006 for DT2005.panorama by  doxygen 1.4.7