GT2004SelfLocator Class Reference

#include <GT2004SelfLocator.h>

Inheritance diagram for GT2004SelfLocator:

SelfLocator LinesTables2004 Module SelfLocatorInterfaces MessageHandler List of all members.

Public Member Functions

 GT2004SelfLocator (const SelfLocatorInterfaces &interfaces)
virtual void execute ()
virtual bool handleMessage (InMessage &message)

Static Public Attributes

static double paramUp = 0.01
static double paramDown = 0.005
static double paramDelay = 3
static double paramHeight = 150
static double paramZ = 10
static double paramY = 2
static double paramR = 2
static double paramTrans = 100
static double paramRot = 0.5
static double paramOdometryOnly = 0.99
static double paramPerceptDecay = 0.99
static double paramPerceptChance = 0.15

Private Types

 SAMPLES_MAX = 100
 GRID_MAX = 10
 FLAGS_MAX = 3
 GOALS_MAX = 1
 LEFT_SIDE_OF_FLAG = 1
 RIGHT_SIDE_OF_FLAG = -1
enum  { SAMPLES_MAX = 100, GRID_MAX = 10, FLAGS_MAX = 3, GOALS_MAX = 1 }
enum  FlagSides { LEFT_SIDE_OF_FLAG = 1, RIGHT_SIDE_OF_FLAG = -1 }

Private Member Functions

double sigmoid (double d) const
void updateByOdometry (const Pose2D &odometry, const Pose2D &camera, bool noise)
void updateFlagAndGoalBufferByOdometry (const LandmarksPercept &landmarksPercept, const Pose2D &odometry)
void updateByPoint (const LinesPercept::LinePoint &point, LinesPercept::LineType type)
void updateByFlag (const Vector2< double > &flag, FlagSides sideOfFlag, double measuredBearing, double measuredDistance)
void updateByGoalPost (const Vector2< double > &goalPost, double measuredBearing, double measuredDistance)
void resample ()
void calcPose (Pose2D &pose, double &validity)
void addFlag (const Flag &flag, long frame)
void addGoal (const Goal &goal, long frame)
bool poseFromBearings (double dir0, double dir1, double dir2, const Vector2< double > &mark0, const Vector2< double > &mark1, const Vector2< double > &mark2, const Vector2< double > &cameraOffset, Pose2D &resultingPose) const
int poseFromBearingsAndDistance (double dir0, double dir1, double dist, const Vector2< double > &mark0, const Vector2< double > &mark1, const Vector2< double > &cameraOffset, Pose2D &resultingPose1, Pose2D &resultingPose2) const
bool getBearing (const LandmarksPercept &landmarksPercept, int i, Vector2< double > &mark, double &dir, double &dist) const
void generatePoseTemplates (const LandmarksPercept &landmarksPercept, const Pose2D &odometry)
Sample getTemplate ()
void draw (const Pose2D &pose, Drawings::Color color) const
void draw (const Vector2< int > &point, LinesPercept::LineType type) const

Private Attributes

DistanceToBorderEstimator distanceToBorderEstimator
SampleSet< Sample, SAMPLES_MAX > sampleSet
Pose2D lastOdometry
Pose2D lastOdometry2
Pose2D templates [SAMPLES_MAX]
Flag flags [FLAGS_MAX]
long flagsFrame [FLAGS_MAX]
Goal goals [GOALS_MAX]
long goalsFrame [GOALS_MAX]
int numOfFlags
int numOfGoals
int numOfTemplates
int nextTemplate
int randomFactor
LinesPercept::LineType types [LinesPercept::numberOfLineTypes]
int numberOfTypes
bool sensorUpdated
double average [Sample::numberOfQualities]
unsigned timeStamp
double speed

Classes

class  Cell
class  Sample

Detailed Description

The class implements a lines-based Monte Carlo self-localization.

Definition at line 28 of file GT2004SelfLocator.h.


Member Enumeration Documentation

anonymous enum [private]

Enumerator:
SAMPLES_MAX  The number of samples.
GRID_MAX  The number of cells in one dimension.
FLAGS_MAX  The size of the flag buffer.
GOALS_MAX  The size of the goal buffer.

Definition at line 86 of file GT2004SelfLocator.h.

enum GT2004SelfLocator::FlagSides [private]

Enumerator:
LEFT_SIDE_OF_FLAG  A marker for left edges of flags.
RIGHT_SIDE_OF_FLAG  A marker for right edges of flags.

Definition at line 94 of file GT2004SelfLocator.h.


Constructor & Destructor Documentation

GT2004SelfLocator::GT2004SelfLocator ( const SelfLocatorInterfaces interfaces  ) 

Constructor.

Parameters:
interfaces The paramters of the SelfLocator module.

Definition at line 107 of file GT2004SelfLocator.cpp.

References average, LinesTables2004::field, GT2004SelfLocator::Sample::numberOfQualities, numberOfTypes, numOfFlags, numOfGoals, Field::randomPose(), SAMPLES_MAX, sampleSet, sensorUpdated, speed, and timeStamp.


Member Function Documentation

void GT2004SelfLocator::addFlag ( const Flag flag,
long  frame 
) [private]

The function adds a flag to the buffer.

Parameters:
flag The new flag.

Definition at line 815 of file GT2004SelfLocator.cpp.

References flags, FLAGS_MAX, flagsFrame, ConditionalBoundary::isOnBorder(), Range< T >::max, Range< T >::min, numOfFlags, Flag::type, and Boundary< T >::x.

Referenced by updateFlagAndGoalBufferByOdometry().

void GT2004SelfLocator::addGoal ( const Goal goal,
long  frame 
) [private]

Definition at line 837 of file GT2004SelfLocator.cpp.

References Goal::color, goals, GOALS_MAX, goalsFrame, ConditionalBoundary::isOnBorder(), Range< T >::max, Range< T >::min, numOfGoals, and Boundary< T >::x.

Referenced by updateFlagAndGoalBufferByOdometry().

void GT2004SelfLocator::calcPose ( Pose2D pose,
double &  validity 
) [private]

The function determines the most probable pose from the sample distribution.

Parameters:
pose The pose is returned to this variable.
validity The validity of the pose is returned to this variable.

Definition at line 583 of file GT2004SelfLocator.cpp.

References Field::clip(), GT2004SelfLocator::Cell::count, LinesTables2004::field, GT2004SelfLocator::Cell::first, Range< T >::getSize(), GRID_MAX, log(), pi2, sampleSet, Pose2D::translation, Boundary< T >::x, and Boundary< T >::y.

void GT2004SelfLocator::draw ( const Vector2< int > &  point,
LinesPercept::LineType  type 
) const [private]

The function draws a point of a line percept.

Parameters:
point The relative position in field coordinates.
type The line type of the point.

Definition at line 971 of file GT2004SelfLocator.cpp.

References Geometry::calculatePointInImage(), SelfLocatorInterfaces::cameraMatrix, CIRCLE, getRobotConfiguration(), Drawings::green, Drawings::ps_solid, Drawings::red, Drawings::skyblue, Vector2< V >::x, Vector2< V >::y, and Drawings::yellow.

void GT2004SelfLocator::draw ( const Pose2D pose,
Drawings::Color  color 
) const [private]

The function draws an arrow to a debug drawing.

Parameters:
pose The position and direction of the arrow.
color The color of the arrow.

Definition at line 940 of file GT2004SelfLocator.cpp.

References LINE, Drawings::ps_solid, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by getTemplate(), and updateByPoint().

void GT2004SelfLocator::execute (  )  [virtual]

The function executes the module.

Implements Module.

Definition at line 126 of file GT2004SelfLocator.cpp.

References SelfLocatorInterfaces::cameraMatrix, LandmarksPercept::cameraOffset, distanceToBorderEstimator, e, DistanceToBorderEstimator::execute(), flags, flagsFrame, RobotPose::frameNumber, LandmarksPercept::frameNumber, generatePoseTemplates(), SystemCall::getCurrentSystemTime(), RobotPose::getPose(), SystemCall::getTimeSince(), RobotPose::getValidity(), goals, goalsFrame, CameraMatrix::isValid, SelfLocatorInterfaces::landmarksPercept, lastOdometry, lastOdometry2, LEFT_SIDE_OF_FLAG, SelfLocatorInterfaces::linesPercept, LinesPercept::numberOfPoints, numberOfTypes, numOfFlags, numOfGoals, SelfLocatorInterfaces::odometryData, paramOdometryOnly, paramPerceptChance, paramPerceptDecay, paramTrans, paramZ, LinesPercept::points, random(), resample(), RIGHT_SIDE_OF_FLAG, SelfLocatorInterfaces::robotPose, sensorUpdated, RobotPose::setFrameNumber(), RobotPose::setPose(), RobotPose::setValidity(), LinesPercept::skyblueGoal, speed, timeStamp, types, updateByFlag(), updateByGoalPost(), updateByOdometry(), updateByPoint(), updateFlagAndGoalBufferByOdometry(), USE_FLASHBACK, Vector3< V >::x, Vector3< V >::y, and LinesPercept::yellowGoal.

void GT2004SelfLocator::generatePoseTemplates ( const LandmarksPercept landmarksPercept,
const Pose2D odometry 
) [private]

The function generates pose templates from a landmark percept. The pose templates can be used to initialize new samples.

Parameters:
landmarksPercept The landmarks percept.
odometry The odometry offset since the last call of this function.

Definition at line 859 of file GT2004SelfLocator.cpp.

References Player::blue, LandmarksPercept::cameraOffset, getBearing(), getPlayer(), SelfLocatorInterfaces::landmarksPercept, SelfLocatorInterfaces::linesPercept, nextTemplate, LandmarksPercept::numberOfGoals, LinesPercept::numberOfPoints, numberOfTypes, numOfFlags, numOfTemplates, LinesPercept::points, poseFromBearings(), poseFromBearingsAndDistance(), randomFactor, TemplateTable< TEMPLATES_MAX >::sample(), LinesPercept::skyblueGoal, templates, LinesTables2004::templateTable, types, Vector3< V >::x, Vector3< V >::y, and LinesPercept::yellowGoal.

Referenced by execute().

bool GT2004SelfLocator::getBearing ( const LandmarksPercept landmarksPercept,
int  i,
Vector2< double > &  mark,
double &  dir,
double &  dist 
) const [private]

The function determines a pair of landmark positions and bearings from a landmarks percept.

Parameters:
landmarksPercept The landmarks percept.
i The index of the entry in the percept.
mark The position of the mark is returned here.
dir The bearing on the mark is returned to this variable.
dist The distance of the mark is returned to this variable.
Returns:
returns true if getting the bearing was successful.

Definition at line 780 of file GT2004SelfLocator.cpp.

References Flag::angle, Goal::distance, Flag::distance, flags, LandmarksPercept::goals, ConditionalBoundary::isOnBorder(), SelfLocatorInterfaces::landmarksPercept, Goal::leftPost, Range< T >::max, Range< T >::min, numOfFlags, Flag::position, Goal::rightPost, and Boundary< T >::x.

Referenced by generatePoseTemplates().

GT2004SelfLocator::Sample GT2004SelfLocator::getTemplate (  )  [private]

The function returns the next pose template or a random one if no templates were determined.

Returns:
A new sample.

Definition at line 912 of file GT2004SelfLocator.cpp.

References COMPLEX_DRAWING, draw(), LinesTables2004::field, Pose2D::getAngle(), Boundary< T >::isInside(), nextTemplate, numOfTemplates, Pose2D::random(), randomFactor, Field::randomPose(), Drawings::red, templates, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

bool GT2004SelfLocator::handleMessage ( InMessage message  )  [virtual]

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from.

Parameters:
message The message that can be read.
Returns:
true if the message was read (handled).

Reimplemented from Module.

Definition at line 991 of file GT2004SelfLocator.cpp.

References InMessage::bin, d, InMessage::getMessageID(), idLinesSelfLocatorParameters, paramDelay, paramDown, paramHeight, paramRot, paramTrans, paramUp, paramY, and paramZ.

bool GT2004SelfLocator::poseFromBearings ( double  dir0,
double  dir1,
double  dir2,
const Vector2< double > &  mark0,
const Vector2< double > &  mark1,
const Vector2< double > &  mark2,
const Vector2< double > &  cameraOffset,
Pose2D resultingPose 
) const [private]

The function calculates the current pose of the robot from three bearings.

Parameters:
dir0 The bearing on the first landmark.
dir1 The bearing on the second landmark.
dir2 The bearing on the third landmark.
mark0 The position of the first landmark.
mark1 The position of the second landmark.
mark2 The position of the third landmark.
cameraOffset The offset of the camera relative to the body center.
resultingPose The calculated pose is returned to this variable.
Returns:
Was the function successful?

Definition at line 702 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), b, pi, pi2, Vector2< V >::x, and Vector2< V >::y.

Referenced by generatePoseTemplates().

int GT2004SelfLocator::poseFromBearingsAndDistance ( double  dir0,
double  dir1,
double  dist,
const Vector2< double > &  mark0,
const Vector2< double > &  mark1,
const Vector2< double > &  cameraOffset,
Pose2D resultingPose1,
Pose2D resultingPose2 
) const [private]

The function calculates the up to two current poses of the robot from two bearings and a distance.

Parameters:
dir0 The bearing on the first landmark.
dir1 The bearing on the second landmark.
dist The distance of the first landmark.
mark0 The position of the first landmark.
mark1 The position of the second landmark.
cameraOffset The offset of the camera relative to the body center.
resultingPose1 One calculated pose is returned to this variable.
resultingPose2 A second calculated pose is returned to this variable.
Returns:
The number of poses calculated?

Definition at line 740 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), dist(), pi, pi_2, Vector2< V >::x, and Vector2< V >::y.

Referenced by generatePoseTemplates().

void GT2004SelfLocator::resample (  )  [private]

The function re-distributes the samples according to their probabilities.

Definition at line 517 of file GT2004SelfLocator.cpp.

References average, GT2004SelfLocator::Sample::numberOfQualities, SAMPLES_MAX, and sampleSet.

Referenced by execute().

double GT2004SelfLocator::sigmoid ( double  d  )  const [inline, private]

The function distributes the parameter in a Gaussian way.

Parameters:
d A value that should be distributed.
Returns:
A transformation of d according to a Gaussian curve.

Definition at line 124 of file GT2004SelfLocator.h.

Referenced by updateByFlag(), updateByGoalPost(), and updateByPoint().

void GT2004SelfLocator::updateByFlag ( const Vector2< double > &  flag,
FlagSides  sideOfFlag,
double  measuredBearing,
double  measuredDistance 
) [private]

The function updates the samples by a single edge of a flag recognized.

Parameters:
flag The position of the flag.
sideOfFlag The side of the flag that was seen.
measuredBearing The bearing, under which the edge was seen.

Definition at line 465 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), LinesPercept::numberOfLineTypes, pi, SAMPLES_MAX, sampleSet, sensorUpdated, sigmoid(), Pose2D::translation, USE_BEARING_TO_LANDMARK, USE_DISTANCE_TO_LANDMARK, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().

void GT2004SelfLocator::updateByGoalPost ( const Vector2< double > &  goalPost,
double  measuredBearing,
double  measuredDistance 
) [private]

The function updates the samples by a single goal post recognized.

Parameters:
goalPost The position of the goal post.
measuredBearing The bearing, under which the goal post was seen.

Definition at line 491 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), LinesPercept::numberOfLineTypes, pi, SAMPLES_MAX, sampleSet, sensorUpdated, sigmoid(), Pose2D::translation, USE_BEARING_TO_LANDMARK, USE_DISTANCE_TO_LANDMARK, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().

void GT2004SelfLocator::updateByOdometry ( const Pose2D odometry,
const Pose2D camera,
bool  noise 
) [private]

The function updates the samples by the odometry offset.

Parameters:
odometry The motion since the last call to this function.
camera The camera offset.
noise Dermines whether some additional noise is added to the sample poses.

Definition at line 387 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), dist(), fmax(), Pose2D::getAngle(), max, random(), SAMPLES_MAX, sampleSet, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().

void GT2004SelfLocator::updateByPoint ( const LinesPercept::LinePoint point,
LinesPercept::LineType  type 
) [private]

The function updates the samples by a single line point recognized.

Parameters:
point The relative offset of the point.
type The type of the point.

Definition at line 431 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), Vector2< V >::angle(), Player::blue, COMPLEX_DRAWING, d, draw(), LinesPercept::field, Pose2D::getAngle(), ObservationTable< xSize, ySize, cellSize >::getClosestPoint(), getPlayer(), LinesPercept::numberOfLineTypes, LinesTables2004::observationTable, paramHeight, paramY, paramZ, pi, SAMPLES_MAX, sampleSet, sigmoid(), LinesPercept::skyblueGoal, Pose2D::translation, Vector2< V >::x, Vector2< V >::y, and LinesPercept::yellowGoal.

Referenced by execute().

void GT2004SelfLocator::updateFlagAndGoalBufferByOdometry ( const LandmarksPercept landmarksPercept,
const Pose2D odometry 
) [private]

The function updates the flag buffer by the odometry offset and adds new flags

Definition at line 316 of file GT2004SelfLocator.cpp.

References Vector2< V >::abs(), addFlag(), addGoal(), Goal::angle, Flag::angle, DIV1200_IGNORE_IF_SMALLER, DIV20_IGNORE_IF_SMALLER, DIV400_IGNORE_IF_SMALLER, LandmarksPercept::flags, flags, LandmarksPercept::frameNumber, LandmarksPercept::goals, goals, SelfLocatorInterfaces::landmarksPercept, LandmarksPercept::numberOfFlags, LandmarksPercept::numberOfGoals, numOfFlags, numOfGoals, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().


Member Data Documentation

double GT2004SelfLocator::average[Sample::numberOfQualities] [private]

Definition at line 115 of file GT2004SelfLocator.h.

Referenced by GT2004SelfLocator(), and resample().

DistanceToBorderEstimator GT2004SelfLocator::distanceToBorderEstimator [private]

A class that can estimate the distance to the border

Definition at line 32 of file GT2004SelfLocator.h.

Referenced by execute().

Flag GT2004SelfLocator::flags[FLAGS_MAX] [private]

A buffer for previously seen flags.

Definition at line 104 of file GT2004SelfLocator.h.

Referenced by addFlag(), execute(), getBearing(), and updateFlagAndGoalBufferByOdometry().

long GT2004SelfLocator::flagsFrame[FLAGS_MAX] [private]

A buffer for previously seen flags, containing the framenumber

Definition at line 105 of file GT2004SelfLocator.h.

Referenced by addFlag(), and execute().

Goal GT2004SelfLocator::goals[GOALS_MAX] [private]

A buffer for previously seen goals.

Definition at line 106 of file GT2004SelfLocator.h.

Referenced by addGoal(), execute(), and updateFlagAndGoalBufferByOdometry().

long GT2004SelfLocator::goalsFrame[GOALS_MAX] [private]

A buffer for previously seen goals, containing the framenumber

Definition at line 107 of file GT2004SelfLocator.h.

Referenced by addGoal(), and execute().

Pose2D GT2004SelfLocator::lastOdometry [private]

The state of the odometry at the previous call of this module.

Definition at line 101 of file GT2004SelfLocator.h.

Referenced by execute().

Pose2D GT2004SelfLocator::lastOdometry2 [private]

Definition at line 101 of file GT2004SelfLocator.h.

Referenced by execute().

int GT2004SelfLocator::nextTemplate [private]

The next template delivered.

Definition at line 108 of file GT2004SelfLocator.h.

Referenced by generatePoseTemplates(), and getTemplate().

int GT2004SelfLocator::numberOfTypes [private]

Definition at line 113 of file GT2004SelfLocator.h.

Referenced by execute(), generatePoseTemplates(), and GT2004SelfLocator().

int GT2004SelfLocator::numOfFlags [private]

Definition at line 108 of file GT2004SelfLocator.h.

Referenced by addFlag(), execute(), generatePoseTemplates(), getBearing(), GT2004SelfLocator(), and updateFlagAndGoalBufferByOdometry().

int GT2004SelfLocator::numOfGoals [private]

The number of flags in the buffer.

Definition at line 108 of file GT2004SelfLocator.h.

Referenced by addGoal(), execute(), GT2004SelfLocator(), and updateFlagAndGoalBufferByOdometry().

int GT2004SelfLocator::numOfTemplates [private]

The number of templates generated.

Definition at line 108 of file GT2004SelfLocator.h.

Referenced by generatePoseTemplates(), and getTemplate().

double GT2004SelfLocator::paramDelay = 3 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage(), GT2004SelfLocator::Sample::setProbability(), and GT2004SelfLocator::Sample::updateQuality().

double GT2004SelfLocator::paramDown = 0.005 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage(), and GT2004SelfLocator::Sample::setProbability().

double GT2004SelfLocator::paramHeight = 150 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage(), and updateByPoint().

double GT2004SelfLocator::paramOdometryOnly = 0.99 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by execute().

double GT2004SelfLocator::paramPerceptChance = 0.15 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by execute().

double GT2004SelfLocator::paramPerceptDecay = 0.99 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by execute().

double GT2004SelfLocator::paramR = 2 [static]

Definition at line 282 of file GT2004SelfLocator.h.

double GT2004SelfLocator::paramRot = 0.5 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage().

double GT2004SelfLocator::paramTrans = 100 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by execute(), and handleMessage().

double GT2004SelfLocator::paramUp = 0.01 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage(), GT2004SelfLocator::Sample::setProbability(), and GT2004SelfLocator::Sample::updateQuality().

double GT2004SelfLocator::paramY = 2 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by handleMessage(), and updateByPoint().

double GT2004SelfLocator::paramZ = 10 [static]

Definition at line 282 of file GT2004SelfLocator.h.

Referenced by execute(), handleMessage(), and updateByPoint().

int GT2004SelfLocator::randomFactor [private]

A factor that is increased if more templates are required.

Definition at line 111 of file GT2004SelfLocator.h.

Referenced by generatePoseTemplates(), and getTemplate().

SampleSet<Sample, SAMPLES_MAX> GT2004SelfLocator::sampleSet [private]

The sample set.

Definition at line 100 of file GT2004SelfLocator.h.

Referenced by calcPose(), GT2004SelfLocator(), resample(), updateByFlag(), updateByGoalPost(), updateByOdometry(), and updateByPoint().

bool GT2004SelfLocator::sensorUpdated [private]

Did any update of the samples by a sensor reading happen?

Definition at line 114 of file GT2004SelfLocator.h.

Referenced by execute(), GT2004SelfLocator(), updateByFlag(), and updateByGoalPost().

double GT2004SelfLocator::speed [private]

Definition at line 117 of file GT2004SelfLocator.h.

Referenced by execute(), and GT2004SelfLocator().

Pose2D GT2004SelfLocator::templates[SAMPLES_MAX] [private]

Templates for poses replacing bad samples.

Definition at line 101 of file GT2004SelfLocator.h.

Referenced by generatePoseTemplates(), and getTemplate().

unsigned GT2004SelfLocator::timeStamp [private]

Definition at line 116 of file GT2004SelfLocator.h.

Referenced by execute(), and GT2004SelfLocator().

LinesPercept::LineType GT2004SelfLocator::types[LinesPercept::numberOfLineTypes] [private]

Definition at line 112 of file GT2004SelfLocator.h.

Referenced by execute(), and generatePoseTemplates().


The documentation for this class was generated from the following files:
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