PolarLineFit fits a polar line to a section of points, in a RangeData object. More...

#include <polarlinefit.h>

Public Member Functions
bool	asCart (double x, double y, double th, double lng, double *res)
	converts the estimated line segment to cartesian coordinates More...

double	distToLine (double r_, double th_)
	Calculates the distance from a polar point to the line. More...

void	fitRange (RangeData *range_, int first_, int last_)
	Fit range to a polar line. More...

void	fitRangeOld (RangeData *range_, int first_, int last_)
	Fit range to a polar line. More...

double	getEndTh ()
	Get end angle. More...

int	getFirst ()

int	getLast ()

double	getLength ()
	Get length of line segment. More...

double	getMaxDist ()

double	getMSQ ()

double	getR0 ()
	Get minimum range. More...

double	getSlope ()
	Get slope of line segment. More...

double	getStartTh ()
	Get start angle. More...

double	getTh0 ()
	Get angle for minimum range. More...

	PolarLineFit ()
	Constructor. More...

void	toStringCart (char *target)
	Writes line parameters as cartesian coordinates to string in XML format. More...

void	toStringPolar (char *target)
	Writes line parameters as polar coordinates to string in XML format. More...

Private Member Functions
double	calcMSQ ()
	calculates the MSQ for all points to the line More...

double	projectToLine (double r, double th)
	returns theta More...

void	setLength ()
	Set length of line segment and the slope of the line. More...

Private Attributes
double	end_th
	End angle. More...

int	first

int	last

double	length
	Length of line segment. More...

double	maxdist

double	msq

double	r0
	Minimum distance to line. More...

RangeData *	range

double	slope
	Slope of the line from (x1, y1) to (x2, y2) More...

double	start_th
	Start angle. More...

double	th0
	Angle of minimum distance. More...

Detailed Description

PolarLineFit fits a polar line to a section of points, in a RangeData object.

Constructor & Destructor Documentation

PolarLineFit::PolarLineFit ( )

Constructor.

Member Function Documentation

bool PolarLineFit::asCart	(	double *	x,
		double *	y,
		double *	th,
		double *	lng,
		double *	res
	)

converts the estimated line segment to cartesian coordinates

Parameters

[out]	x,y	start position of line
[out]	th,lng	orientation and length
[out]	res	square error for measurement to line estimate

Referenced by UResAuEf::findFeatures().

double PolarLineFit::calcMSQ ( )

private

calculates the MSQ for all points to the line

Returns: MSQ

double PolarLineFit::distToLine	(	double	r_,
		double	th_
	)

Calculates the distance from a polar point to the line.

Parameters

r_,th_ The range and angle of the polar point

Returns: Distance to the line

References dist.

Referenced by AUExtractFeatures::findSplit().

void PolarLineFit::fitRange	(	RangeData *	range_,
		int	first_,
		int	last_
	)

Fit range to a polar line.

Parameters

*range_,first_,last_ Pointer to the data set and the first and last point in between which the line should be fittet

References RangeData::point_x.

Referenced by AUExtractFeatures::doMerge().

void PolarLineFit::fitRangeOld	(	RangeData *	range_,
		int	first_,
		int	last_
	)

Fit range to a polar line.

Parameters

*range_,first_,last_ Pointer to the data set and the first and last point in between which the line should be fittet

References RangeData::point_r.

double PolarLineFit::getEndTh ( )

Get end angle.

Returns: End angle

Referenced by CircleFit::matchLines(), and CircleFit::testDistToCenter().

int PolarLineFit::getFirst ( )

Returns: First datapoint (index)

Referenced by CircleFit::absorbLine(), CircleFit::addLine(), AUExtractFeatures::doMerge(), AUExtractFeatures::doSplits(), AUExtractFeatures::findSplit(), CircleFit::fitLines(), and CircleFit::testMSQ().

int PolarLineFit::getLast ( )

Returns: Last datapoint (index)

Referenced by CircleFit::absorbLine(), CircleFit::addLine(), AUExtractFeatures::doSplits(), AUExtractFeatures::findSplit(), CircleFit::fitLines(), and CircleFit::testMSQ().

double PolarLineFit::getLength ( )

Get length of line segment.

Returns: Length of line segment

Referenced by AUExtractFeatures::findLongestLine().

double PolarLineFit::getMaxDist ( )

Returns: Maximum distance

double PolarLineFit::getMSQ ( )

Returns: MSQ

Referenced by AUExtractFeatures::doMerge(), and AUExtractFeatures::doSplits().

double PolarLineFit::getR0 ( )

Get minimum range.

Returns: Minimum range

Referenced by UResAuEf::findFeatures(), CircleFit::matchLines(), and CircleFit::testDistToCenter().

double PolarLineFit::getSlope ( )

Get slope of line segment.

Returns: slope of line segment

double PolarLineFit::getStartTh ( )

Get start angle.

Returns: Start angle

Referenced by CircleFit::matchLines(), and CircleFit::testDistToCenter().

double PolarLineFit::getTh0 ( )

Get angle for minimum range.

Returns: Minimum range angle

Referenced by UResAuEf::findFeatures(), CircleFit::matchLines(), and CircleFit::testDistToCenter().

double PolarLineFit::projectToLine	(	double	r,
		double	th
	)

private

returns theta

projectToLine projects the point (r, th) to line

Parameters

r,th	The range and angle of the polar point.

Returns: Angle of projection

void PolarLineFit::setLength ( )

private

Set length of line segment and the slope of the line.

References a.

void PolarLineFit::toStringCart ( char * target )

Writes line parameters as cartesian coordinates to string in XML format.

Parameters

*target writes parameters to target

void PolarLineFit::toStringPolar ( char * target )

Writes line parameters as polar coordinates to string in XML format.

Parameters

*target writes parameters to target

Member Data Documentation

double PolarLineFit::end_th

private

End angle.

int PolarLineFit::first

private

int PolarLineFit::last

private

double PolarLineFit::length

private

Length of line segment.

double PolarLineFit::maxdist

private

double PolarLineFit::msq

private

double PolarLineFit::r0

private

Minimum distance to line.

RangeData* PolarLineFit::range

private

double PolarLineFit::slope

private

Slope of the line from (x1, y1) to (x2, y2)

double PolarLineFit::start_th

private

Start angle.

double PolarLineFit::th0

private

Angle of minimum distance.

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