LEL_ARLine Struct Reference

#include <LEL_commons.h>

Public Member Functions
	LEL_ARLine ()
	LEL_ARLine (double alphaIn, double rIn)
	LEL_ARLine (double startX, double startY, double endX, double endY, const char *linename)
double	pointX (double pointAlongLine)
double	pointY (double pointAlongLine)
double	positionAlongLine (double x, double y)

Public Attributes
double	alpha
double	lb
double	le
bool	limited
char	name [MNL]
double	p1 [2]
double	p2 [2]
double	r

Static Public Attributes
static const int	MNL = 32

Constructor & Destructor Documentation

LEL_ARLine::LEL_ARLine ( )

inline

constructor - initialize

LEL_ARLine::LEL_ARLine ( double  alphaIn, double  rIn  )

inline

setline as simpel angle (A), distance (R) line ( line is thus not limited.

LEL_ARLine::LEL_ARLine ( double  startX, double  startY, double  endX, double  endY, const char *  linename  )

inline

set line from start - end psitions. Makes the line limited.

Parameters

linename

is a max 32 character name - is copied, and may not be NULL.

References lb, le, positionAlongLine(), and r.

Member Function Documentation

double LEL_ARLine::pointX ( double  pointAlongLine )

inline

get the X position on the line from a relative position

double LEL_ARLine::pointY ( double  pointAlongLine )

inline

get the Y position on the line from a relative position

double LEL_ARLine::positionAlongLine ( double  x, double  y  )

inline

Get relative position on the line closest to this point.

Returns

a relative position on line, can only be used to compare to other relative positions (in meters) and to get position on line

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), LEL_ARLine(), UFuncLocalize::projectToLaser(), and UFuncLoca2::projectToLaser().

Member Data Documentation

double LEL_ARLine::alpha

angle of line from origo to closest point on line (radians)

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UFuncLocalize::projectToLaser(), UFuncLoca2::projectToLaser(), and LEL_GFLine::toARLine().

double LEL_ARLine::lb

relative start position on line

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), LEL_ARLine(), UFuncLocalize::projectToLaser(), and UFuncLoca2::projectToLaser().

double LEL_ARLine::le

relative end position on line

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), LEL_ARLine(), UFuncLocalize::projectToLaser(), and UFuncLoca2::projectToLaser().

bool LEL_ARLine::limited

line is start-end limited

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UFuncLocalize::projectToLaser(), and UFuncLoca2::projectToLaser().

const int LEL_ARLine::MNL = 32

static

max length of line name

Referenced by UFuncLocalize::handleAddLine(), and UFuncLoca2::handleAddLine().

char LEL_ARLine::name[MNL]

line name

Referenced by ULineMatch::addToPoly(), UFuncLocalize::handleLocalize(), UFuncLoca2::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UFuncLoca2::markBestJointMatches(), ULineMatch::print(), and ULocaMatchStat::testMatches().

double LEL_ARLine::p1[2]

start point if limited

Referenced by ULineMatch::addToPoly(), UFuncLocalize::handleLocalize(), and ULineMatch::print().

double LEL_ARLine::p2[2]

end point if limited

Referenced by ULineMatch::addToPoly(), UFuncLocalize::handleLocalize(), and ULineMatch::print().

double LEL_ARLine::r

distance from line to origo (meters)

Referenced by UFuncLoca2::correlateLines(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), LEL_ARLine(), UFuncLocalize::projectToLaser(), UFuncLoca2::projectToLaser(), and LEL_GFLine::toARLine().

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

• LEL_commons.h