|
AURobotServers
4
|
#include <ureslocater.h>
Public Attributes | |
| double | angleDelta |
| angle difference from mapped to measured angle More... | |
| double | distMap |
| the expected distance from line to robot - signed and perpendicular to the line. More... | |
| double | distMeas |
| the measured signed distance to the robot - perpendicular to the line More... | |
| int | hitCnt |
| number of measurements for this line More... | |
| double | length |
| form factor of associated detection cloud - along line More... | |
| mapline * | line |
| the related map line More... | |
| double | lineEndDelta |
| offset from expected line end offset parallel with line. More... | |
| bool | lineEndOK |
| is the line end detection valid More... | |
| double | width |
| form factor of associated detection cloud - across line More... | |
Correlates laser scan points to each of the map lines in mapBase. The result is delivered in the array parameters.
| rd | is the laserscan measurements |
| x_ | matrix, that ??? |
| cnt_array | number of measurements associated to eaxh map point |
| x_array,y_array | is the associated measurements to each map line |
| cnte_array | number of measurements associated to eaxh map point |
| xe_array,ye_array | is the associated measurements to each map line, assuming endless lines |
| ls_offset | is forward position of laserscanner relative to robot origin (x-offset) |
| UResMapbase | is a pointer to the map plugin with map line information Class used by the locater to save one set of results from associations from one mapped line, |
| double ULocaterLineResult::angleDelta |
angle difference from mapped to measured angle
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| double ULocaterLineResult::distMap |
the expected distance from line to robot - signed and perpendicular to the line.
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| double ULocaterLineResult::distMeas |
the measured signed distance to the robot - perpendicular to the line
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| int ULocaterLineResult::hitCnt |
number of measurements for this line
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| double ULocaterLineResult::length |
form factor of associated detection cloud - along line
Referenced by UResLocater::locate().
| mapline* ULocaterLineResult::line |
the related map line
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| double ULocaterLineResult::lineEndDelta |
offset from expected line end offset parallel with line.
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| bool ULocaterLineResult::lineEndOK |
is the line end detection valid
Referenced by UResLocater::doLocatorUpdates(), and UResLocater::locate().
| double ULocaterLineResult::width |
form factor of associated detection cloud - across line
Referenced by UResLocater::locate().
1.8.11
