CircleFit class. More...

#include <circlefit.h>

Public Member Functions
void	absorbLine (PolarLineFit *line_)
	Add line segment to circle. More...

	CircleFit ()
	Constructor. More...

void	fitLines (RangeData range_, PolarLineFit linefit1_, PolarLineFit *linefit2_)
	Makes a circle of two PolarLineFit objects. More...

double	getCoverage ()
	radians of the circle covered by scan points More...

double	getCr ()
	Get center r. More...

double	getCth ()
	Get center th. More...

double	getCx ()
	Get center x. More...

double	getCy ()
	Get center y. More...

int	getFirst ()
	First data point in circle segment. More...

double	getInverted ()
	True if inverted. More...

int	getLast ()
	Last data point in circle segment. More...

double	getMSQ ()
	Mean squared error. More...

double	getRadius ()

double	testDistToCenter (PolarLineFit *line_)
	Get the distance to the center for a PolarLineFit object. More...

double	testMSQ (PolarLineFit *line_)
	MSQ for a line segment matched to an existing circle. More...

void	toStringCart (char *target)
	Write center coordinates and radius to target as XML. More...

void	toStringPolar (char *target)
	Write center dist, angle and radius to target as XML. More...

Private Member Functions
void	addLine (PolarLineFit *line_)
	Add the line attributes to an existing circle. More...

double	distToCenterSqr (double r_, double th_)
	Squared distance from polar point to circle center. More...

double	distToCirc (double r, double th)
	Distance from polar point to circumference. More...

void	matchLines (PolarLineFit line1, PolarLineFit line2)
	Match two PolarLine objects to a circle. More...

Private Attributes
double	cr

double	cth

double	cx

double	cy

int	first

bool	inverted

int	last

double	msq

int	points

double	radius

RangeData *	range

double	sumdist

double	sumsq

Detailed Description

CircleFit class.

The CircleFit class implements a method for fittig PolarLineFit objects to a circle.

Constructor & Destructor Documentation

CircleFit::CircleFit ( )

Constructor.

Member Function Documentation

void CircleFit::absorbLine ( PolarLineFit * line_ )

Add line segment to circle.

Add one PolarLineFit object (line segment) to an existing circle

Parameters

*line_ Pointer to PolarLineFit object.

References PolarLineFit::getFirst(), and PolarLineFit::getLast().

void CircleFit::addLine ( PolarLineFit * line_ )

private

Add the line attributes to an existing circle.

Parameters

*line_ Pointer to PolarLineFit object.

References PolarLineFit::getFirst(), and PolarLineFit::getLast().

double CircleFit::distToCenterSqr	(	double	r_,
		double	th_
	)

private

Squared distance from polar point to circle center.

Parameters

r_,th_ Polar point defined by range r_ and angle th_.

Returns: Squared distance to center.

References a.

double CircleFit::distToCirc	(	double	r_,
		double	th_
	)

private

Distance from polar point to circumference.

Parameters

r_,th_ Polar point defined by range r_ and angle th_.

Returns: Distance to circumference.

void CircleFit::fitLines	(	RangeData *	range_,
		PolarLineFit *	linefit1_,
		PolarLineFit *	linefit2_
	)

Makes a circle of two PolarLineFit objects.

Fit a circle to the two the lines given by the PolarLineFit objects.
the center for the circle is found in the perpendicular median vector intersection and the radius is adjusted by the average distance to the center

Parameters

*range_,*linefit1_,*linefit2_ range_: Pointer to RangeData object.
linefitX_: Pointer to PolarLineFit object.

References PolarLineFit::getFirst(), and PolarLineFit::getLast().

Referenced by AUExtractFeatures::doFindCircles().

double CircleFit::getCoverage ( )

radians of the circle covered by scan points

Radians of the circle covered by scan points.

Returns: Radians

References a.

Referenced by AUExtractFeatures::doFindCircles().

double CircleFit::getCr ( )

Get center r.

Returns: cr

double CircleFit::getCth ( )

Get center th.

Returns: cth

double CircleFit::getCx ( )

Get center x.

Returns: cx

double CircleFit::getCy ( )

Get center y.

Returns: cy

int CircleFit::getFirst ( )

First data point in circle segment.

Returns: First data point in circle from RangeData

Referenced by AUExtractFeatures::doFindCircles().

double CircleFit::getInverted ( )

True if inverted.

Referenced by AUExtractFeatures::doFindCircles().

int CircleFit::getLast ( )

Last data point in circle segment.

Returns: Last data point in circle from RangeData

double CircleFit::getMSQ ( )

Mean squared error.

Returns: MSQ

Referenced by AUExtractFeatures::doFindCircles().

double CircleFit::getRadius ( )

Referenced by AUExtractFeatures::doFindCircles().

void CircleFit::matchLines	(	PolarLineFit *	line1,
		PolarLineFit *	line2
	)

private

Match two PolarLine objects to a circle.

Parameters

*line1,*line2 pointers to the two PolarLine objects that needs to be matched.

References PolarLineFit::getEndTh(), PolarLineFit::getR0(), PolarLineFit::getStartTh(), and PolarLineFit::getTh0().

double CircleFit::testDistToCenter ( PolarLineFit * line_ )

Get the distance to the center for a PolarLineFit object.

Parameters

*line_ Pointer to PolarLineFit object.

Returns: The distance from the line midpoint to the circle circumference.

References PolarLineFit::getEndTh(), PolarLineFit::getR0(), PolarLineFit::getStartTh(), and PolarLineFit::getTh0().

double CircleFit::testMSQ ( PolarLineFit * line_ )

MSQ for a line segment matched to an existing circle.

Parameters

*line_ Pointer to PolarLineFit object.

Returns: The MSQ between the PolarLineFit object and the circle circumference.

References PolarLineFit::getFirst(), and PolarLineFit::getLast().

void CircleFit::toStringCart ( char * target )

Write center coordinates and radius to target as XML.

Parameters

*target Pointer to string.
Overflow is NOT checked.

void CircleFit::toStringPolar ( char * target )

Write center dist, angle and radius to target as XML.

Parameters

*target Pointer to string.
Overflow is NOT checked.

Member Data Documentation

double CircleFit::cr

private

double CircleFit::cth

private

double CircleFit::cx

private

double CircleFit::cy

private

int CircleFit::first

private

bool CircleFit::inverted

private

int CircleFit::last

private

double CircleFit::msq

private

int CircleFit::points

private

double CircleFit::radius

private

RangeData* CircleFit::range

private

double CircleFit::sumdist

private

double CircleFit::sumsq

private

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation