ULocaMatchStat Class Reference

Public Member Functions
void	clear ()
void	init (ULaserMatches **laserLines, int laserLinesCnt, double noMatchMaha, double varianceAlpha, double varianceRadius, double mahaDistWhenNotUsedCorrelation, bool beSilent)
bool	testMatches (int llCnt, ULineMatch *prevMatch)

Public Attributes
int	best [MAX_LAS_LINES]
ULaserMatches **	lasMchs
int	lasMchsCnt
double	mahaDistForNotUsedCorrelation
	replacement mahalanobi distance cost for not using correlation More...
double	mahaScore
double	minDist2
double	noMatchVariance
Matrix< double, 3, 3 >	poseCovOrg
Matrix< double, 3, 1 >	poseOrg
int	seedLaserLine
int	seedMapMatch
bool	silent
int	skippedCorrelationsCnt
int	testSet [MAX_LAS_LINES]
int	usedCorrelationsCnt
double	varAlpha
	uncertainty for line detect More...
double	varR
	uncertainty for line detect More...

Static Public Attributes
static const int	MAX_LAS_LINES = 200

Member Function Documentation

void ULocaMatchStat::clear ( void  )

inline

void ULocaMatchStat::init ( ULaserMatches **  laserLines, int  laserLinesCnt, double  noMatchMaha, double  varianceAlpha, double  varianceRadius, double  mahaDistWhenNotUsedCorrelation, bool  beSilent  )

inline

init

References UFuncLoca2::laserLines, and UFuncLoca2::laserLinesCnt.

Referenced by UFuncLoca2::markBestJointMatches().

bool ULocaMatchStat::testMatches ( int  llCnt, ULineMatch *  prevMatch  )

inline

recursive call recursive call -

• version that assumes first call is seed correlation

References bool2str(), ULineMatch::delH_delP, ULineMatch::difA, ULineMatch::difR, ULineMatch::inov, ULineMatch::inovMaha, ULineMatch::mapLine, ULaserMatches::mapLines, ULaserMatches::mapLinesCnt, LEL_ARLine::name, ULineMatch::newPose1, and ULineMatch::poseCov1.

Referenced by UFuncLoca2::markBestJointMatches().

Member Data Documentation

int ULocaMatchStat::best[MAX_LAS_LINES]

best set of correlations

Referenced by UFuncLoca2::markBestJointMatches().

ULaserMatches** ULocaMatchStat::lasMchs

list of laser lines and map-matches for each of these

int ULocaMatchStat::lasMchsCnt

number of laser lines

double ULocaMatchStat::mahaDistForNotUsedCorrelation

replacement mahalanobi distance cost for not using correlation

double ULocaMatchStat::mahaScore

average mahalanobi distance for any correlation used in best joint set

Referenced by UFuncLoca2::markBestJointMatches().

const int ULocaMatchStat::MAX_LAS_LINES = 200

static

best matched map line array

double ULocaMatchStat::minDist2

best match squared difference

double ULocaMatchStat::noMatchVariance

no-match Mahalanobi distance - suared

Matrix<double,3, 3> ULocaMatchStat::poseCovOrg

covariance from last update

Referenced by UFuncLoca2::markBestJointMatches().

Matrix<double,3, 1> ULocaMatchStat::poseOrg

pose from last update

Referenced by UFuncLoca2::markBestJointMatches().

int ULocaMatchStat::seedLaserLine

seed correlation laser line

Referenced by UFuncLoca2::markBestJointMatches().

int ULocaMatchStat::seedMapMatch

seed map-line correlation for this laser line

Referenced by UFuncLoca2::markBestJointMatches().

bool ULocaMatchStat::silent

allow print to console or not

int ULocaMatchStat::skippedCorrelationsCnt

number of skipped correlations (no correlations is better) in this joint test

Referenced by UFuncLoca2::markBestJointMatches().

int ULocaMatchStat::testSet[MAX_LAS_LINES]

test set of correlations

int ULocaMatchStat::usedCorrelationsCnt

number of used correlations in this joint test

Referenced by UFuncLoca2::markBestJointMatches().

double ULocaMatchStat::varAlpha

uncertainty for line detect

double ULocaMatchStat::varR

uncertainty for line detect

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

• ufuncloca2.cpp