#include <GlobalAlignment.h>
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 |
Definition at line 15 of file GlobalAlignment.h.
GlobalAlignment::GlobalAlignment | ( | ) |
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.
Definition at line 31 of file GlobalAlignment.h.
LocalAlignment GlobalAlignment::history[HISTORY_BUFFER] |
Definition at line 20 of file GlobalAlignment.h.
Referenced by aquire(), computePosition(), match(), and reset().
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::scaleSlope |
Definition at line 28 of file GlobalAlignment.h.
Referenced by computePosition(), and estimateSize().
double GlobalAlignment::seenOffset[HISTORY_BUFFER] |
bool GlobalAlignment::seenOffsetValid[HISTORY_BUFFER] |
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().