#include <ufunclocalize.h>

Inheritance diagram for UFuncLocalize:

Public Member Functions
virtual bool	handleCommand (UServerInMsg msg, void extra)

Matrix< double, 2, 1 >	projectToLaserUKF (Matrix< double, 3, 1 > pose, Matrix< double, 2, 1 > noise, Matrix< double, 2, 1 > measline, Matrix< double, 5, 1 > worldLine_lasPose)

virtual bool	setResource (UResBase *resource, bool remove)

	UFuncLocalize ()

virtual	~UFuncLocalize ()

Public Member Functions inherited from UFuncLaserBase
	UFuncLaserBase ()

virtual	~UFuncLaserBase ()

Public Member Functions inherited from UFuncPlugBase
	UFuncPlugBase ()

virtual	~UFuncPlugBase ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

virtual void	createResources ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Protected Attributes
UPosRot	lasPose

UTime	lastScanTime

list< LEL_ARLine >	lineList

int	matchMiss

Matrix< double, 3, 1 >	pose

Matrix< double, 3, 3 >	poseCov

MultiHypDist< 3 >	poseDist

UResPoseHist *	poseHist

int	poseIndex

SplitTable< 1 >	table

double	transTh

double	transX

double	transY

UVariable *	varCovar
	value of current covariance matrix More...

UVariable *	varCovarA
	eigenvalues of x,y part of current covariance matrix More...

UVariable *	varCovarV
	eigenvectors of x,y part of current covariance matrix More...

UVariable *	varDefinedLines
	number of defined lines in localizer More...

UVariable *	varFailed
	number of failed matches since last successful match More...

UVariable *	varKL
	distance varaince for left wheel each moved meter More...

UVariable *	varKR
	distance varaince for right wheel each moved meter More...

UVariable *	varLaserAlpha
	The noise covariances for laser readings. More...

UVariable *	varLaserR

UVariable *	varMaxThVariance

UVariable *	varMaxXYVariance
	The maximum allowed variances for each hypothesis. More...

UVariable *	varOdoB
	robot base (differential drive?) More...

UVariable *	varPointsInThreshold
	number of points that must be inside line segment to correlate More...

UVariable *	varUpdates
	number of successful match updates More...

Protected Attributes inherited from UFuncLaserBase
ULaserData	dataBuff

int	lastDevice

unsigned long	lastSerial

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Private Member Functions
void	addLine (UPosition p1, UPosition p2)

void	createBaseVar ()

bool	handleAddLine (UServerInMsg *msg)

bool	handleLocalize (UServerInMsg msg, void extra)

bool	handleLocalizeMHF (UServerInMsg msg, void extra)

bool	handleLocalizeUKF (UServerInMsg msg, void extra)

bool	handleOdoposeUpdate ()

bool	handleOutputDist (UServerInMsg *msg)

bool	handleResample (UServerInMsg *msg)

bool	handleResetLocalizer (UServerInMsg *msg)

bool	handleSetInitCov (UServerInMsg *msg)

bool	handleSetInitPose (UServerInMsg *msg)

bool	handleSetTable (UServerInMsg *msg)

void	projectToLaser (LEL_ARLine worldLine, Matrix< double, 3, 1 > &pose, Matrix< double, 3, 3 > &poseCov, LEL_ARLine &projLine, Matrix< double, 2, 2 > &lineCov, Matrix< double, 2, 3 > &delH_delP)

void	updateCovStatus ()

void	updateStatus (double mapX, double mapY, double mapTh, UTime time)

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFuncLaserBase
ULaserDevice *	getDevice (UServerInMsg msg, ULaserData pushData)

ULaserData *	getScan (UServerInMsg msg, ULaserData pushData, bool any=false, ULaserDevice **dev=NULL)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Laserscanner function to demonstrate simple laser scanner data handling and analysis

Author: Christian Andersen

Constructor & Destructor Documentation

UFuncLocalize::UFuncLocalize ( )

Constructor

References createBaseVar(), lastScanTime, matchMiss, poseIndex, UFunctionBase::setCommand(), UTime::setTime(), transTh, transX, and transY.

UFuncLocalize::~UFuncLocalize ( )

virtual

Destructor

Member Function Documentation

void UFuncLocalize::addLine	(	UPosition	p1,
		UPosition	p2
	)

private

Add a detectable line from 3D position p1 to 3D position p2

void UFuncLocalize::createBaseVar ( )

private

Create local variables for manipulating parameters

distance varaince for right wheel each moved meter

distance varaince for left wheel each moved meter

References UResVarPool::addVar(), varCovar, varCovarA, varCovarV, varDefinedLines, varFailed, varKL, varKR, varLaserAlpha, varLaserR, varMaxThVariance, varMaxXYVariance, varOdoB, varPointsInThreshold, and varUpdates.

Referenced by UFuncLocalize().

bool UFuncLocalize::handleAddLine ( UServerInMsg * msg )

private

bool UFuncLocalize::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

This function is called by the server core, when it needs a resource provided by this plugin. Return a pointer to a resource with an ID taht matches this 'resID' ID string. The string match should be case sensitive. Returns false if the resource faled to be created (e.g. no memory space). return true if all ressources is available Handle incomming command (intended for command separation) Must return true if the function is handled - otherwise the client will get a failed - reply

Reimplemented from UFunctionBase.

References handleAddLine(), handleLocalize(), handleLocalizeMHF(), handleLocalizeUKF(), handleOdoposeUpdate(), handleOutputDist(), handleResample(), handleResetLocalizer(), handleSetInitCov(), handleSetInitPose(), handleSetTable(), USmlTagIn::isTagA(), UFunctionBase::sendDebug(), and UServerInMsg::tag.

bool UFuncLocalize::handleLocalize	(	UServerInMsg *	msg,
		void *	extra
	)

private

update since last localize

"Normal" XML reply format

SMRDEMO reply format

References UResPoly::add(), UVariable::add(), LEL_ARLine::alpha, UServerInMsg::client, UPolyItem::cooSys, data, dist, ULaserData::getAngleRad(), USmlTagIn::getAttBool(), USmlTagIn::getAttValue(), UTime::getDecSec(), UFuncLaserBase::getDevice(), ULaserDevice::getDevicePose(), UPose::getDistance(), UVariable::getDouble(), UResPoly::getItem(), UResPoseHist::getPoseAtTime(), ULaserData::getRangeCnt(), ULaserData::getRangeMeter(), UFuncLaserBase::getScan(), ULaserData::getScanTime(), UFunctionBase::getStaticResource(), UVariable::getValued(), UResPoly::gotNewData(), UPose::h, ULaserData::isValid(), lasPose, lastScanTime, LEL_ARLine::lb, LEL_ARLine::le, LEL_ARLine::limited, UResBase::line, lineList, ULock::lock(), matchMiss, LEL_ARLine::name, LEL_ARLine::p1, LEL_ARLine::p2, pose, poseCov, poseHist, LEL_ARLine::positionAlongLine(), projectToLaser(), LEL_ARLine::r, ransac(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UPosition::set(), UPolygon::setAsPolyline(), UPolygon::setColor(), UPolygon::setPointsCnt(), UPolyItem::setUpdated(), UFunctionBase::silent, UServerInMsg::tag, transTh, transX, transY, ULock::unlock(), updateDisplacement(), updateStatus(), varKL, varKR, varLaserAlpha, varLaserR, varOdoB, varPointsInThreshold, varUpdates, X, UPosition::x, UPose::x, Y, UPosition::y, and UPose::y.

Referenced by handleCommand().

bool UFuncLocalize::handleLocalizeMHF	(	UServerInMsg *	msg,
		void *	extra
	)

private

References UVariable::add(), LEL_ARLine::alpha, UServerInMsg::client, GaussianHypothesis< dim >::cov, data, ULaserData::getAngleRad(), USmlTagIn::getAttInteger(), USmlTagIn::getAttValue(), MultiHypDist< dim >::getCovariance(), UTime::getDecSec(), UFuncLaserBase::getDevice(), ULaserDevice::getDevicePose(), UVariable::getDouble(), MultiHypDist< dim >::getMean(), UResPoseHist::getPoseAtTime(), ULaserData::getRangeCnt(), ULaserData::getRangeMeter(), UFuncLaserBase::getScan(), ULaserData::getScanTime(), UVariable::getValued(), MultiHypDist< dim >::GHlist, UPose::h, ULaserData::isValid(), URotation::Kappa, lasPose, lastScanTime, LEL_ARLine::lb, LEL_ARLine::le, LEL_ARLine::limited, UResBase::line, lineList, matchMiss, GaussianHypothesis< dim >::mean, LEL_ARLine::name, MultiHypDist< dim >::normalize(), poseDist, poseHist, LEL_ARLine::positionAlongLine(), projectToLaser(), projectToLaserUKF(), LEL_ARLine::r, ransac(), MultiHypDist< dim >::resample(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UFunctionBase::silent, MultiHypDist< dim >::split(), table, UServerInMsg::tag, transTh, transX, transY, iau_ukf::update(), updateDisplacement(), updateStatus(), varKL, varKR, varLaserAlpha, varLaserR, varMaxThVariance, varMaxXYVariance, varOdoB, varPointsInThreshold, varUpdates, GaussianHypothesis< dim >::weight, X, UPosition::x, UPose::x, Y, UPosition::y, and UPose::y.

Referenced by handleCommand().

bool UFuncLocalize::handleLocalizeUKF	(	UServerInMsg *	msg,
		void *	extra
	)

private

"Normal" XML reply format

SMRDEMO reply format

References UVariable::add(), LEL_ARLine::alpha, UServerInMsg::client, data, ULaserData::getAngleRad(), USmlTagIn::getAttBool(), USmlTagIn::getAttValue(), UTime::getDecSec(), UFuncLaserBase::getDevice(), ULaserDevice::getDevicePose(), UVariable::getDouble(), UResPoseHist::getPoseAtTime(), ULaserData::getRangeCnt(), ULaserData::getRangeMeter(), UFuncLaserBase::getScan(), ULaserData::getScanTime(), UVariable::getValued(), UPose::h, ULaserData::isValid(), URotation::Kappa, lasPose, lastScanTime, LEL_ARLine::lb, LEL_ARLine::le, LEL_ARLine::limited, UResBase::line, lineList, matchMiss, LEL_ARLine::name, pose, poseCov, poseHist, LEL_ARLine::positionAlongLine(), projectToLaser(), projectToLaserUKF(), LEL_ARLine::r, ransac(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UFunctionBase::silent, UServerInMsg::tag, transTh, transX, transY, iau_ukf::update(), updateDisplacement(), updateStatus(), varKL, varKR, varLaserAlpha, varLaserR, varOdoB, varPointsInThreshold, varUpdates, X, UPosition::x, UPose::x, Y, UPosition::y, and UPose::y.

Referenced by handleCommand().

bool UFuncLocalize::handleOdoposeUpdate ( )

private

Referenced by handleCommand().

bool UFuncLocalize::handleOutputDist ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendText(), and UServerInMsg::tag.

Referenced by handleCommand().

bool UFuncLocalize::handleResample ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), poseDist, MultiHypDist< dim >::resample(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendText(), and UServerInMsg::tag.

Referenced by handleCommand().

bool UFuncLocalize::handleResetLocalizer ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), lastScanTime, lineList, poseIndex, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UVariable::setDouble(), UTime::setTime(), UServerInMsg::tag, and varDefinedLines.

Referenced by handleCommand().

bool UFuncLocalize::handleSetInitCov ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), UVariable::getValued(), MultiHypDist< dim >::GHlist, pose, poseCov, poseDist, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), MultiHypDist< dim >::split(), table, UServerInMsg::tag, updateCovStatus(), varMaxThVariance, and varMaxXYVariance.

Referenced by handleCommand().

bool UFuncLocalize::handleSetInitPose ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), lastScanTime, pose, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UServerInMsg::tag, and updateStatus().

Referenced by handleCommand().

bool UFuncLocalize::handleSetTable ( UServerInMsg * msg )

private

References USmlTagIn::getAttValue(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendText(), table, and UServerInMsg::tag.

Referenced by handleCommand().

void UFuncLocalize::projectToLaser	(	LEL_ARLine	worldLine,
		Matrix< double, 3, 1 > &	pose,
		Matrix< double, 3, 3 > &	poseCov,
		LEL_ARLine &	projLine,
		Matrix< double, 2, 2 > &	lineCov,
		Matrix< double, 2, 3 > &	delH_delP
	)

private

References LEL_ARLine::alpha, URotation::Kappa, lasPose, LEL_ARLine::lb, LEL_ARLine::le, LEL_ARLine::limited, pose, LEL_ARLine::positionAlongLine(), LEL_ARLine::r, UPosition::x, and UPosition::y.

Referenced by handleLocalize(), handleLocalizeMHF(), and handleLocalizeUKF().

Matrix< double, 2, 1 > UFuncLocalize::projectToLaserUKF	(	Matrix< double, 3, 1 >	pose,
		Matrix< double, 2, 1 >	noise,
		Matrix< double, 2, 1 >	measline,
		Matrix< double, 5, 1 >	worldLine_lasPose
	)

References lasPose, and pose.

Referenced by handleLocalizeMHF(), and handleLocalizeUKF().

bool UFuncLocalize::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Called by the server core. Should return the name of function. There should be a first short part separated by a space to some additional info (e.g. version and author). The returned name is intended as informative to clients and should include a version number Called by the server core when loaded, to get a list of keywords (commands) handled by this plugin. Return a list of handled functions in one string separated by a space. e.g. return "ball". The functions should be unique on the server. List (space separated) of shared resources provided by this function. Must be an empty string if no resources are to be shared. Each resource ID must be no longer than 20 characters long. Called by the server core, when a new resource is available (or is removed), local pointers to the resource should be updated as appropriate.

Reimplemented from UFunctionBase.

References UResPoseHist::getOdoPoseID(), UResBase::isA(), poseHist, and UFunctionBase::setResource().

void UFuncLocalize::updateCovStatus ( )

private

Update covariance status in global variables.

References UMatrix::cols(), UMatrix4::eig2x2(), UMatrix::get(), UMatrix::getData(), poseCov, UMatrix::rows(), UMatrix::set(), UMatrix::setMat(), UMatrix::setSize(), UVariable::setValueM(), varCovar, varCovarA, and varCovarV.

Referenced by handleSetInitCov(), and updateStatus().

void UFuncLocalize::updateStatus	(	double	mapX,
		double	mapY,
		double	mapTh,
		UTime	time
	)

private

Update module status (global variables)

Parameters

mapX	is the localized position in X
mapY	is the localized position in Y
mapTh	is the localized position in radians
time	is the valid time for the position
match	was the last update a match.