GT2005SampleTemplateGenerator Class Reference

A Class to encapsulate the template geneation feature of the gt04 localizer. More...

#include <GT2005SampleTemplateGenerator.h>

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[legend]List of all members.


Public Member Functions
	GT2005SampleTemplateGenerator (const GT2005SelfLocatorParameters &parameters)
	Constructor.
GT2005SelfLocatorSample	getTemplate ()
	this method returns a generated template
void	generateTemplates (const LandmarksPercept &landmarksPercept, const LinesPercept &linesPercept, const Pose2D &odometry)
	this method generates new sample templates
int	getNumberOfTemplates () const
void	draw (const Pose2D &pose, const Drawings::Color &color) const
void	draw (const Pose2D &pose, const Drawings::Color &color, const Vector2< double > &mark1, const Vector2< double > &mark2, double dir1, double dir2) const
void	draw (const Pose2D &pose, const Drawings::Color &color, const Vector2< double > &mark1, const Vector2< double > &mark2, const Vector2< double > &mark3, double dir1, double dir2, double dir3) const
Private Types
enum	{ TEMPLATES_MAX = 100, FLAGS_MAX = 3 }
Private Member Functions
bool	getBearing (const LandmarksPercept &landmarksPercept, int i, Vector2< double > &mark, double &dir, double &dist)
int	poseFromBearingsAndDistance (double dir0, double dir1, double dist, const Vector2< double > &mark0, const Vector2< double > &mark1, const Vector2< double > &cameraOffset, Pose2D &resultingPose1, Pose2D &resultingPose2)
bool	poseFromBearings (double dir0, double dir1, double dir2, const Vector2< double > &mark0, const Vector2< double > &mark1, const Vector2< double > &mark2, const Vector2< double > &cameraOffset, Pose2D &resultingPose)
void	addFlag (const Flag &flag)
bool	checkTemplatePose (const Pose2D &pose, const Vector2< double > &mark, double dir)
Private Attributes
const GT2005SelfLocatorParameters &	parameters
Flag	flags [FLAGS_MAX]
	A buffer for previously seen flags.
int	numberOfTemplates
	The number of templates generated.
int	numberOfFlags
	The number of templates generated.
int	nextTemplate
	The next template delivered.
int	randomFactor
	A factor that is increased if more templates are required.
Pose2D	templates [TEMPLATES_MAX]
	Templates for poses replacing bad samples.

Detailed Description

A Class to encapsulate the template geneation feature of the gt04 localizer.

Definition at line 27 of file GT2005SampleTemplateGenerator.h.

Member Enumeration Documentation

anonymous enum [private]

Enumeration values:

TEMPLATES_MAX maximum number of samples - should be the same as max number of samples in locator

FLAGS_MAX maximum number of flags stored in a buffer

Definition at line 60 of file GT2005SampleTemplateGenerator.h.

Constructor & Destructor Documentation

GT2005SampleTemplateGenerator::GT2005SampleTemplateGenerator ( const GT2005SelfLocatorParameters & parameters )

Constructor.

Definition at line 14 of file GT2005SampleTemplateGenerator.cpp.
References numberOfTemplates.

Member Function Documentation

GT2005SelfLocatorSample GT2005SampleTemplateGenerator::getTemplate ( )

this method returns a generated template

Definition at line 28 of file GT2005SampleTemplateGenerator.cpp.
References Pose2D::getAngle(), Boundary< double >::isInside(), numberOfTemplates, Pose2D::random(), Field::randomPose(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.
Referenced by GT2005SelfLocator::resample().

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void GT2005SampleTemplateGenerator::generateTemplates ( const LandmarksPercept & landmarksPercept,

const LinesPercept & linesPercept,

const Pose2D & odometry

)

this method generates new sample templates

Definition at line 221 of file GT2005SampleTemplateGenerator.cpp.
References Vector2< V >::abs(), addFlag(), Flag::angle, DEBUG_RESPONSE, Flag::distance, LandmarksPercept::flags, NCIRCLE, NCOMPLEX_DRAWING, NDECLARE_DEBUGDRAWING, LandmarksPercept::numberOfFlags, Flag::position, Boundary< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.
Referenced by GT2005SelfLocator::execute().

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int GT2005SampleTemplateGenerator::getNumberOfTemplates ( ) const

Definition at line 335 of file GT2005SampleTemplateGenerator.cpp.
References numberOfTemplates.
Referenced by GT2005SelfLocator::resample().

void GT2005SampleTemplateGenerator::draw ( const Pose2D & pose,

const Drawings::Color & color

) const

Definition at line 340 of file GT2005SampleTemplateGenerator.cpp.
References NCIRCLE, NCOMPLEX_DRAWING, NLINE, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

void GT2005SampleTemplateGenerator::draw ( const Pose2D & pose,

const Drawings::Color & color,

const Vector2< double > & mark1,

const Vector2< double > & mark2,

double dir1,

double dir2

) const

Definition at line 358 of file GT2005SampleTemplateGenerator.cpp.
References NCOMPLEX_DRAWING, NLINE, Pose2D::translation, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

void GT2005SampleTemplateGenerator::draw ( const Pose2D & pose,

const Drawings::Color & color,

const Vector2< double > & mark1,

const Vector2< double > & mark2,

const Vector2< double > & mark3,

double dir1,

double dir2,

double dir3

) const

Definition at line 404 of file GT2005SampleTemplateGenerator.cpp.
References NCOMPLEX_DRAWING, NLINE, Pose2D::translation, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

bool GT2005SampleTemplateGenerator::getBearing ( const LandmarksPercept & landmarksPercept,

int i,

Vector2< double > & mark,

double & dir,

double & dist

) [private]

Definition at line 154 of file GT2005SampleTemplateGenerator.cpp.
References Flag::angle, Goal::distance, Flag::distance, LandmarksPercept::goals, ConditionalBoundary::isOnBorder(), Goal::leftPost, Range< double >::max, Range< double >::min, Flag::position, Goal::rightPost, and Boundary< double >::x.

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int GT2005SampleTemplateGenerator::poseFromBearingsAndDistance ( double dir0,

double dir1,

double dist,

const Vector2< double > & mark0,

const Vector2< double > & mark1,

const Vector2< double > & cameraOffset,

Pose2D & resultingPose1,

Pose2D & resultingPose2

) [private]

Definition at line 104 of file GT2005SampleTemplateGenerator.cpp.
References Vector2< V >::abs(), alpha, checkTemplatePose(), pi, pi_2, Vector2< V >::x, and Vector2< V >::y.

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bool GT2005SampleTemplateGenerator::poseFromBearings ( double dir0,

double dir1,

double dir2,

const Vector2< double > & mark0,

const Vector2< double > & mark1,

const Vector2< double > & mark2,

const Vector2< double > & cameraOffset,

Pose2D & resultingPose

) [private]

Definition at line 57 of file GT2005SampleTemplateGenerator.cpp.
References Vector2< V >::abs(), checkTemplatePose(), pi, pi2, Vector2< V >::x, and Vector2< V >::y.

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void GT2005SampleTemplateGenerator::addFlag ( const Flag & flag ) [private]

Definition at line 193 of file GT2005SampleTemplateGenerator.cpp.
References ConditionalBoundary::isOnBorder(), Range< double >::max, Range< double >::min, Flag::type, and Boundary< double >::x.
Referenced by generateTemplates().

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bool GT2005SampleTemplateGenerator::checkTemplatePose ( const Pose2D & pose,

const Vector2< double > & mark,

double dir

) [private]

Definition at line 434 of file GT2005SampleTemplateGenerator.cpp.
References normalize(), Pose2D::rotation, and Pose2D::translation.
Referenced by poseFromBearings(), and poseFromBearingsAndDistance().

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Member Data Documentation

const GT2005SelfLocatorParameters& GT2005SampleTemplateGenerator::parameters [private]

Definition at line 58 of file GT2005SampleTemplateGenerator.h.

Flag GT2005SampleTemplateGenerator::flags[FLAGS_MAX] [private]

A buffer for previously seen flags.

Definition at line 65 of file GT2005SampleTemplateGenerator.h.

int GT2005SampleTemplateGenerator::numberOfTemplates [private]

The number of templates generated.

Definition at line 67 of file GT2005SampleTemplateGenerator.h.
Referenced by getNumberOfTemplates(), getTemplate(), and GT2005SampleTemplateGenerator().

int GT2005SampleTemplateGenerator::numberOfFlags [private]

The number of templates generated.

Definition at line 67 of file GT2005SampleTemplateGenerator.h.

int GT2005SampleTemplateGenerator::nextTemplate [private]

The next template delivered.

Definition at line 67 of file GT2005SampleTemplateGenerator.h.

int GT2005SampleTemplateGenerator::randomFactor [private]

A factor that is increased if more templates are required.

Definition at line 70 of file GT2005SampleTemplateGenerator.h.

Pose2D GT2005SampleTemplateGenerator::templates[TEMPLATES_MAX] [private]

Templates for poses replacing bad samples.

Definition at line 71 of file GT2005SampleTemplateGenerator.h.

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

Modules/SelfLocator/GT2005SelfLocator/GT2005SampleTemplateGenerator.h
Modules/SelfLocator/GT2005SelfLocator/GT2005SampleTemplateGenerator.cpp

Generated on Mon Mar 20 22:15:00 2006 for GT2005 by

1.3.6

GT2005SampleTemplateGenerator Class Reference

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation