ULineMatch Class Reference

#include <ufuncloca2.h>

Public Member Functions
void	addToPoly (UResPoly *resPoly, UPose LaserPose, UPoseTime mapOdoOrigin)
void	print (bool silent, char c, int mapLineCnt, int matchCnt, double overlap)
void	setExpectedPose (Matrix< double, 3, 1 > *pose, Matrix< double, 3, 3 > *poseCov)
	ULineMatch ()

Public Attributes
Matrix< double, 2, 3 >	delH_delP
double	difA
double	difR
Matrix< double, 3, 1 >	inov
double	inovMaha
U2Dseg *	laserLine
int	laserLineMatch
Matrix< double, 2, 2 >	lineDifCovAR
Matrix< double, 2, 2 >	lineDifCovARinv
Matrix< double, 2, 1 >	mahaDistXY
LEL_ARLine	mapLine
	back reference to laser line More...
double	minMahDist
	distance between line and map line is SD units (squared) More...
Matrix< double, 3, 1 >	newPose1
UPosition	pe1
	map line matched More...
UPosition	pe2
Matrix< double, 3, 3 >	poseCov1
double	sumA
double	sumA2
int	sumCnt
double	sumR
double	sumR2
bool	valid

Constructor & Destructor Documentation

ULineMatch::ULineMatch ( )

inline

Member Function Documentation

void ULineMatch::addToPoly ( UResPoly *  resPoly, UPose  LaserPose, UPoseTime  mapOdoOrigin  )

inline

References UPolygon::add(), UResPoly::add(), UPolygon::clear(), UPolyItem::cooSys, UResPoly::getItem(), UPose::getMapToPose(), U2Dseg::getOtherEnd(), UPose::getPoseToMap(), UResPoly::gotNewData(), ULock::lock(), LEL_ARLine::name, LEL_ARLine::p1, LEL_ARLine::p2, UPosition::set(), UPolygon::setAsPolyline(), UPolygon::setColor(), UPolyItem::setUpdated(), ULock::unlock(), U2Dpos::x, UPosition::x, U2Dpos::y, and UPosition::y.

Referenced by UFuncLoca2::correlateLines().

void ULineMatch::print ( bool  silent, char  c, int  mapLineCnt, int  matchCnt, double  overlap  )

inline

References U2Dseg::getFirstEnd(), U2Dseg::getOtherEnd(), LEL_ARLine::name, LEL_ARLine::p1, LEL_ARLine::p2, UPosition::x, and UPosition::y.

Referenced by UFuncLoca2::correlateLines().

void ULineMatch::setExpectedPose ( Matrix< double, 3, 1 > *  pose, Matrix< double, 3, 3 > *  poseCov  )

inline

Calculate robot pose and pose covariance, if this update is used only

Referenced by UFuncLoca2::correlateLines().

Member Data Documentation

Matrix<double,2, 3> ULineMatch::delH_delP

Referenced by UFuncLoca2::correlateLines(), UFuncLoca2::handleLocalize(), and ULocaMatchStat::testMatches().

double ULineMatch::difA

Referenced by UFuncLoca2::correlateLines(), UFuncLoca2::handleLocalize(), and ULocaMatchStat::testMatches().

double ULineMatch::difR

distance to expected position of line

Referenced by UFuncLoca2::correlateLines(), UFuncLoca2::handleLocalize(), and ULocaMatchStat::testMatches().

Matrix<double,3, 1> ULineMatch::inov

update inovation

Referenced by ULocaMatchStat::testMatches().

double ULineMatch::inovMaha

mahalanobi distance of the inovation

Referenced by ULocaMatchStat::testMatches().

U2Dseg* ULineMatch::laserLine

Referenced by UFuncLoca2::correlateLines().

int ULineMatch::laserLineMatch

index to laser line match structure

Referenced by UFuncLoca2::correlateLines(), and UFuncLoca2::markBestJointMatches().

Matrix<double,2, 2> ULineMatch::lineDifCovAR

Referenced by UFuncLoca2::correlateLines(), and UFuncLoca2::handleLocalize().

Matrix<double,2, 2> ULineMatch::lineDifCovARinv

Referenced by UFuncLoca2::correlateLines().

Matrix<double,2, 1> ULineMatch::mahaDistXY

original mahalanobi distance from first pose

LEL_ARLine ULineMatch::mapLine

back reference to laser line

Referenced by UFuncLoca2::correlateLines(), UFuncLoca2::handleLocalize(), UFuncLoca2::markBestJointMatches(), and ULocaMatchStat::testMatches().

double ULineMatch::minMahDist

distance between line and map line is SD units (squared)

Referenced by UFuncLoca2::correlateLines(), and UFuncLoca2::handleLocalize().

Matrix<double,3, 1> ULineMatch::newPose1

Referenced by ULocaMatchStat::testMatches().

UPosition ULineMatch::pe1

map line matched

Referenced by UFuncLoca2::correlateLines().

UPosition ULineMatch::pe2

Referenced by UFuncLoca2::correlateLines().

Matrix<double,3, 3> ULineMatch::poseCov1

update pose and cov used in joint update calc

Referenced by ULocaMatchStat::testMatches().

double ULineMatch::sumA

center sum of distance to expected position - for calculation of best joint match

double ULineMatch::sumA2

sum squared

int ULineMatch::sumCnt

number of valus in sum

double ULineMatch::sumR

double ULineMatch::sumR2

bool ULineMatch::valid

is it a valid match

Referenced by UFuncLoca2::correlateLines(), and UFuncLoca2::handleLocalize().

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

• ufuncloca2.h