UGroundPatch Class Reference

Public Member Functions
void	addZ (double z, double rz)
	add one height to analysis More...
void	clear (int cellh, int cellw)
	clear count variables for new analysis More...
void	colorAnalysis (UImage *img, int row, int col)
void	evaluatePatchType (UPatchTypeSets *fuzzEval)
void	setAvg ()
void	setTypeClassifier (UPatchTypeSets *classifier)

Public Attributes
double	avgRZ
double	avgZ
int	c
double	greenAvg
	average green 2G-R-B More...
double	greenVar
	green variation More...
int	h
double	heightCntAvg
	valid height relative to possible count [0..1] More...
int	r
	patch description More...
double	redAvg
double	redVar
	green variation More...
int	sumCnt
	number of cells with valid Z More...
UFuncGndAna::UPatchTypes	surfaceType
double	typeMembership [MMC]
	result of classification More...
double	varRZ
	height variation in robot coordinates More...
double	varZ
	height variation - relative to estimated ground plane More...
int	w

Static Public Attributes
static const int	MMC = UFuncGndAna::patchTypeCnt
	number of possible memberships More...

Protected Attributes
UPatchTypeSets *	patchClassifier
	classifier for this patch type More...

Private Attributes
double	sumRZ
	sum of height in local robot coordinates More...
double	sumRZ2
	sum of squared height in robot coordinates More...
double	sumZ
	sum of height above estimated ground plane More...
double	sumZ2
	sum of height squared relative to estimated ground plane More...

Detailed Description

One cell of ground analysis

Member Function Documentation

void UGroundPatch::addZ ( double  z, double  rz  )

inline

add one height to analysis

References sqr().

Referenced by UGroundPatches::heightAnalysis().

void UGroundPatch::clear ( int  cellh, int  cellw  )

inline

clear count variables for new analysis

void UGroundPatch::colorAnalysis ( UImage *  img, int  row, int  col  )

inline

Do color analysis for green

Parameters

img	is image to analyze
row	is patch row number
col	is patch column number
cellh,cellw	is patch cell size

References UImage::getLine(), UPixel::p1, UPixel::p2, and UPixel::p3.

Referenced by UGroundPatches::doPatchAnalysis().

void UGroundPatch::evaluatePatchType ( UPatchTypeSets *  fuzzEval )

inline

Evaluate membership based on measured attributes

References UPatchTypeSets::grade(), UFuncGndAna::grass, UFuncGndAna::green, UFuncGndAna::greenSd, UFuncGndAna::height, UFuncGndAna::heightCnt, UFuncGndAna::heightSd, UFuncGndAna::patchTypeCnt, and UFuncGndAna::red.

Referenced by UGroundPatches::patchEvaluation().

void UGroundPatch::setAvg ( )

inline

References sqr().

void UGroundPatch::setTypeClassifier ( UPatchTypeSets *  classifier )

inline

Member Data Documentation

double UGroundPatch::avgRZ

Referenced by UGroundPatches::saveMatlabScript().

double UGroundPatch::avgZ

Referenced by UGroundPatches::saveMatlabScript().

int UGroundPatch::c

double UGroundPatch::greenAvg

average green 2G-R-B

Referenced by UGroundPatches::saveMatlabScript().

double UGroundPatch::greenVar

green variation

Referenced by UGroundPatches::saveMatlabScript().

int UGroundPatch::h

double UGroundPatch::heightCntAvg

valid height relative to possible count [0..1]

const int UGroundPatch::MMC = UFuncGndAna::patchTypeCnt

static

number of possible memberships

UPatchTypeSets* UGroundPatch::patchClassifier

protected

classifier for this patch type

int UGroundPatch::r

patch description

double UGroundPatch::redAvg

number of cells with valid Z average green 2G-R-B

Referenced by UGroundPatches::saveMatlabScript().

double UGroundPatch::redVar

green variation

Referenced by UGroundPatches::saveMatlabScript().

int UGroundPatch::sumCnt

number of cells with valid Z

Referenced by UGroundPatches::saveMatlabScript().

double UGroundPatch::sumRZ

private

sum of height in local robot coordinates

double UGroundPatch::sumRZ2

private

sum of squared height in robot coordinates

double UGroundPatch::sumZ

private

sum of height above estimated ground plane

double UGroundPatch::sumZ2

private

sum of height squared relative to estimated ground plane

UFuncGndAna::UPatchTypes UGroundPatch::surfaceType

Referenced by UGroundPatches::paintDebugValue(), UGroundPatches::patchEvaluation(), and UGroundPatches::saveMatlabScript().

double UGroundPatch::typeMembership[MMC]

result of classification

Referenced by UGroundPatches::paintDebugValue(), and UGroundPatches::saveMatlabScript().

double UGroundPatch::varRZ

height variation in robot coordinates

Referenced by UGroundPatches::saveMatlabScript().

double UGroundPatch::varZ

height variation - relative to estimated ground plane

Referenced by UGroundPatches::saveMatlabScript().

int UGroundPatch::w

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

• ufuncgndana.cpp