GT2005SelfLocator Class Reference

#include <GT2005SelfLocator.h>

Inheritance diagram for GT2005SelfLocator:

[legend]Collaboration diagram for GT2005SelfLocator:

[legend]List of all members.

Public Member Functions
	GT2005SelfLocator (const SelfLocatorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	The function executes the module.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Private Types
enum	FlagSides { LEFT_SIDE_OF_FLAG = 1, RIGHT_SIDE_OF_FLAG = -1 }
enum	{   SAMPLES_MAX = 100, POSE_SPACE_GRID = 10, OBS_TABLE_X_FIELD_LINE = LinesPercept::field,   OBS_TABLE_Y_FIELD_LINE = LinesPercept::numberOfLineTypes, NUM_OF_CALCULATED_POSES = 3 }
Private Member Functions
double	gaussian (double d) const
	The function distributes the parameter in a Gaussian way.
void	motionUpdate (const Pose2D &odometry, const Pose2D &camera, bool noise)
	The function updates the samples by the odometry offset.
void	updateByFlag (const Vector2< double > &flagFieldPosition, FlagSides sideOfFlag, double measuredBearing)
	The function updates the samples by a single edge of a flag recognized.
void	updateByGoalPost (const Vector2< double > &goalPost, double measuredBearing)
	The function updates the samples by a single goal post recognized.
void	landmarksObservationUpdate (const LandmarksPercept &landmarksPercept)
	The function updates the samples by the recognized landmarks (goal, flag..) triggers updateByFlag and updateByGoalPost.
GT2005LineCrossingsTable::CrossingClass	getCrossingClassification (const LinesPercept::LineCrossingPoint &point)
	calculates the CrossingClass out of the classification (side1..side4) in the LinesPercept
void	updateByCenterCircle (const LinesPercept::CenterCircle &centerCircle)
	observationUpdate by the center circle
void	updateByCrossing (const LinesPercept::LineCrossingPoint &point)
	observationUpdate using the linecrossing percept
void	updateByPoint (const LinesPercept::LinePoint &point, GT2005SelfLocatorSample::PerceptType type, LinesPercept::LineType observationTableIndex)
	does an observationupdate with a point on the field (line or goal)
void	lineObservationUpdate (const LinesPercept &linesPercept)
	The function updates the samples by recognized lines.
double	calcAveragePerceptTypeProbabilities ()
	Calculates the average possibility for each perceptType and all samples and returns the product over all averages.
void	resample ()
	redistibution of the sampleSet according to the probabilities of the samples
double	calcDistributionValidityByStandardDeviation ()
	Calculates the localization validity by Standard Deviation.
double	calcDistributionValidityByEntropy ()
	Calculates the localization validity by Entropy.
RobotPose	calcPoseFromSubCube (Cell poseSpace[POSE_SPACE_GRID][POSE_SPACE_GRID][POSE_SPACE_GRID], int x, int y, int r)
	The function calculates a Pose by averaging the sample poses in a sub cube of the pose-room.
void	calcPose (Pose2D &pose, double &validity)
	The function determines the most probable pose from the sample distribution.
void	draw () const
	The function draws the current sample set to a debug drawing.
Drawings::Color	getSampleColor (double probability) const
	Returns a color corresponding to the sample probability.
void	draw (const Pose2D &pose, Drawings::Color color) const
	The function draws an arrow to the sample set drawing.
void	drawTestSample (const Pose2D &pose, Drawings::Color color) const
	The function draws an arrow to the test sample drawing.
void	updateVariancesBySpeed (double speed)
	The function calculates the variances and trust values from the current speed.
void	calculateTrust ()
	The function calculates the trust values from variance and weight parameters.
void	resetSamples ()
	Reset all samples to random position.
void	resetSamples (const Pose2D &pose)
	Reset all samples to a given position.
void	resetSamplesWhenPenalized ()
	Reset all samples when robot is penalized 25% samples are placed on each side of the field at the center line respectively 50% at random positions.
Private Attributes
SampleSet< GT2005SelfLocatorSample, SAMPLES_MAX >	sampleSet
	the sampleSet
bool	teamColorBlue
double	linePointZAngleMotionDependentVariance
double	linePointZAngleTrust
double	linePointYAngleTrust
double	crossingZAngleTrust
double	crossingYAngleTrust
double	centerCircleZAngleTrust
double	centerCircleYAngleTrust
double	centerCircleOrientationAngleTrust
double	flagYAngleTrust
double	goalZAngleTrust
double	goalYAngleTrust
Pose2D	lastOdometry
Pose2D	lastOdometry2
	the last Odometry, used to calculate the delta_odometry
unsigned	timeStamp
	timestap
bool	observationUpdateDone
	a flag indicating if an observation update was done during the current run of execute
double	speed
	current robot speed
double	averagePerceptTypeProb [GT2005SelfLocatorSample::numberOfPerceptTypes]
	the average probability for each PerceptType and all Samples
GT2005SampleTemplateGenerator	sampleTemplateGenerator
	this class encapsules template generation
GT2005LineCrossingsTable	lineCrossingsTable
GT2005SelfLocatorSample *	testSample
	testing and debugging stuff
int	testSampleIndex
Vector2< double >	lastModelCrossing
Vector2< double >	lastSeenCrossing
GT2005LineCrossingsTable::CrossingClass	lastSeenCrossingClass
Pose2D	lastSeenCenterCircle
GT2005SelfLocatorParameters	parameters
Vector2< double >	eigenVec0
	eigenvectors of particle distribution covariance matrix
Vector2< double >	eigenVec1
	eigenvectors of particle distribution covariance matrix
double	varianceCovarianceMatrix [2][2]
double	stdDevRot
double	averageX
double	averageY
double	eigenVal0
double	eigenVal1
double	eigenSwap
double	averageRot
Static Private Attributes
double const	QUASI_ZERO = 0.000001

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Member Enumeration Documentation

enum GT2005SelfLocator::FlagSides [private]

Enumeration values: LEFT_SIDE_OF_FLAG  flag indicating a position on the left side of a flag RIGHT_SIDE_OF_FLAG  flag indicating a position on the right side of a flag Definition at line 69 of file GT2005SelfLocator.h.

anonymous enum [private]

Enumeration values: SAMPLES_MAX  maximum number of samples POSE_SPACE_GRID  quantization of the pose space OBS_TABLE_X_FIELD_LINE  in the original 04 observation table LinesPercept::field is a x directed line and LinesPercept::numberOfLineTypes is a y directed line OBS_TABLE_Y_FIELD_LINE  NUM_OF_CALCULATED_POSES  Definition at line 74 of file GT2005SelfLocator.h.

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Constructor & Destructor Documentation

GT2005SelfLocator::GT2005SelfLocator (  const SelfLocatorInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the SelfLocator module. Definition at line 47 of file GT2005SelfLocator.cpp. References calculateTrust(), crossingYAngleTrust, crossingZAngleTrust, flagYAngleTrust, goalYAngleTrust, goalZAngleTrust, idText, linePointYAngleTrust, linePointZAngleTrust, OUTPUT, resetSamples(), testSample, and testSampleIndex.

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Member Function Documentation

void GT2005SelfLocator::execute (   )  [virtual]

The function executes the module. Reimplemented from Module. Definition at line 588 of file GT2005SelfLocator.cpp. References GT2005SelfLocatorParameters::agingFactor, calcPose(), calculateTrust(), LandmarksPercept::cameraOffset, DEBUG_RESPONSE, draw(), LandmarksPercept::frameNumber, GT2005SampleTemplateGenerator::generateTemplates(), SystemCall::getCurrentSystemTime(), getPlayer(), GameControlData::getRobot(), Player::getTeamColor(), SystemCall::getTimeSince(), CameraMatrix::isValid, landmarksObservationUpdate(), lineObservationUpdate(), MODIFY, motionUpdate(), NDECLARE_DEBUGDRAWING, GT2005SelfLocatorParameters::noiseWithoutObservationUpdate, observationUpdateDone, resample(), resetSamples(), GT2005SelfLocatorParameters::resetSamplesWhenPenalized, resetSamplesWhenPenalized(), sampleTemplateGenerator, RobotPose::setFrameNumber(), RobotPose::setPose(), RobotPose::setTimestamp(), RobotPose::setValidity(), teamColorBlue, testSample, testSampleIndex, LandmarksState::update(), Vector3< double >::x, and Vector3< double >::y.

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bool GT2005SelfLocator::handleMessage (  InMessage &  message  )  [virtual]

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 1383 of file GT2005SelfLocator.cpp.

double GT2005SelfLocator::gaussian (  double  d  )  const [inline, private]

The function distributes the parameter in a Gaussian way. Parameters: d  A value that should be distributed. Returns: A transformation of d according to a Gaussian curve. Definition at line 169 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByEntropy(), calcDistributionValidityByStandardDeviation(), updateByCenterCircle(), updateByCrossing(), updateByFlag(), updateByGoalPost(), and updateByPoint().

void GT2005SelfLocator::motionUpdate (  const Pose2D &  odometry, const Pose2D &  camera, bool  noise )  [private]

The function updates the samples by the odometry offset. Parameters: odometry  The motion since the last call to this function. camera  The camera offset. noise  Dermines whether some additional noise is added to the sample poses. enhance maybe by replacing bool noise by a noisefunction? Definition at line 74 of file GT2005SelfLocator.cpp. References Vector2< double >::abs(), GT2005SelfLocatorSample::camera, Pose2D::getAngle(), GT2005SelfLocatorSample::isUsingOdometry, GT2005SelfLocatorParameters::majorDirTransWeight, max, GT2005SelfLocatorParameters::minorDirTransWeight, GT2005SelfLocatorParameters::movedAngleWeight, GT2005SelfLocatorParameters::movedDistWeight, PoseSample::probability, random(), GT2005SelfLocatorParameters::rotationNoise, Pose2D::translation, GT2005SelfLocatorParameters::translationNoise, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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void GT2005SelfLocator::updateByFlag (  const Vector2< double > &  flagFieldPosition, FlagSides  sideOfFlag, double  measuredBearing )  [private]

The function updates the samples by a single edge of a flag recognized. Parameters: flagFieldPosition  The position of the flag. sideOfFlag  The side of the flag that was seen. measuredBearing  The bearing, under which the edge was seen. Definition at line 407 of file GT2005SelfLocator.cpp. References Vector2< double >::abs(), GT2005SelfLocatorSample::camera, flagYAngleTrust, gaussian(), getSampleColor(), NCIRCLE, observationUpdateDone, pi, QUASI_ZERO, random(), GT2005SelfLocatorSample::setPerceptProbability(), testSampleIndex, Pose2D::translation, GT2005SelfLocatorParameters::updateProbFlag, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y. Referenced by landmarksObservationUpdate().

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void GT2005SelfLocator::updateByGoalPost (  const Vector2< double > &  goalPost, double  measuredBearing )  [private]

The function updates the samples by a single goal post recognized. Parameters: goalPost  The position of the goal post. measuredBearing  The bearing, under which the goal post was seen. Definition at line 461 of file GT2005SelfLocator.cpp. References GT2005SelfLocatorSample::camera, gaussian(), getSampleColor(), goalYAngleTrust, NCIRCLE, observationUpdateDone, pi, random(), GT2005SelfLocatorSample::setPerceptProbability(), testSampleIndex, Pose2D::translation, GT2005SelfLocatorParameters::updateProbGoalPost, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y. Referenced by landmarksObservationUpdate().

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void GT2005SelfLocator::landmarksObservationUpdate (  const LandmarksPercept &  landmarksPercept  )  [private]

The function updates the samples by the recognized landmarks (goal, flag..) triggers updateByFlag and updateByGoalPost. Parameters: landmarksPercept  The landmarksPercept Definition at line 492 of file GT2005SelfLocator.cpp. References Goal::color, LandmarksPercept::flags, LandmarksPercept::goals, ConditionalBoundary::isOnBorder(), Goal::leftPost, Range< double >::max, Range< double >::min, LandmarksPercept::numberOfFlags, LandmarksPercept::numberOfGoals, Flag::position, Goal::rightPost, updateByFlag(), updateByGoalPost(), and Boundary< double >::x. Referenced by execute().

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GT2005LineCrossingsTable::CrossingClass GT2005SelfLocator::getCrossingClassification (  const LinesPercept::LineCrossingPoint &  point  )  [private]

calculates the CrossingClass out of the classification (side1..side4) in the LinesPercept

void GT2005SelfLocator::updateByCenterCircle (  const LinesPercept::CenterCircle &  centerCircle  )  [private]

observationUpdate by the center circle Definition at line 129 of file GT2005SelfLocator.cpp. References Vector2< V >::abs(), Vector2< int >::abs(), centerCircleOrientationAngleTrust, centerCircleYAngleTrust, centerCircleZAngleTrust, gaussian(), getSampleColor(), GT2005SelfLocatorParameters::headHeightEstimation, LinesPercept::CenterCircle::location, NCIRCLE, NLINE, normalize(), LinesPercept::CenterCircle::orientation, LinesPercept::CenterCircle::orientationKnown, pi_2, point, random(), Pose2D::rotation, GT2005SelfLocatorSample::setPerceptProbability(), testSampleIndex, Pose2D::translation, GT2005SelfLocatorParameters::updateProbCenterCircle, Vector2< double >::x, Vector2< V >::x, Vector2< int >::x, Vector2< double >::y, Vector2< V >::y, and Vector2< int >::y. Referenced by lineObservationUpdate().

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void GT2005SelfLocator::updateByCrossing (  const LinesPercept::LineCrossingPoint &  point  )  [private]

observationUpdate using the linecrossing percept Parameters: relative  position of the linecrossing Definition at line 184 of file GT2005SelfLocator.cpp. References Vector2< int >::abs(), Vector2< V >::abs(), LinesPercept::LineCrossingPoint::angleOnField, crossingYAngleTrust, crossingZAngleTrust, gaussian(), GT2005LineCrossingsTable::getClosestPoint(), getSampleColor(), GT2005SelfLocatorParameters::headHeightEstimation, lastModelCrossing, lastSeenCrossing, lastSeenCrossingClass, lineCrossingsTable, LinesPercept::LineCrossingPoint::locationOnField, NCIRCLE, NLINE, point, random(), GT2005SelfLocatorSample::setPerceptProbability(), testSampleIndex, Pose2D::translation, GT2005SelfLocatorParameters::updateProbCrossing, Vector2< V >::x, Vector2< double >::x, Vector2< int >::x, Vector2< V >::y, Vector2< double >::y, and Vector2< int >::y. Referenced by lineObservationUpdate().

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void GT2005SelfLocator::updateByPoint (  const LinesPercept::LinePoint &  point, GT2005SelfLocatorSample::PerceptType  type, LinesPercept::LineType  observationTableIndex )  [private]

does an observationupdate with a point on the field (line or goal) Parameters: point  a point on a line type  the type of the line Definition at line 270 of file GT2005SelfLocator.cpp. References Vector2< V >::abs(), Vector2< int >::abs(), Vector2< int >::angle(), gaussian(), Pose2D::getAngle(), getSampleColor(), GT2005SelfLocatorParameters::headHeightEstimation, linePointYAngleTrust, linePointZAngleTrust, NCIRCLE, NLINE, pi, point, QUASI_ZERO, GT2005SelfLocatorSample::setPerceptProbability(), testSampleIndex, Pose2D::translation, Vector2< double >::x, Vector2< V >::x, Vector2< int >::x, Vector2< double >::y, Vector2< V >::y, and Vector2< int >::y. Referenced by lineObservationUpdate().

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void GT2005SelfLocator::lineObservationUpdate (  const LinesPercept &  linesPercept  )  [private]

The function updates the samples by recognized lines. Parameters: linesPercept  The LinesPercept Definition at line 344 of file GT2005SelfLocator.cpp. References LinesPercept::centerCircle, LinesPercept::centerCircleFound, GT2005SelfLocatorParameters::centerCircleWeight, GT2005SelfLocatorParameters::crossingWeight, e, getPlayer(), Player::getTeamColor(), LinesPercept::lineCrossings, GT2005SelfLocatorParameters::maxBorderpoints, GT2005SelfLocatorParameters::maxCrossings, GT2005SelfLocatorParameters::maxGoalpoints, GT2005SelfLocatorParameters::maxLinepoints, LinesPercept::numberOfLineCrossings, observationUpdateDone, LinesPercept::points, random(), updateByCenterCircle(), updateByCrossing(), and updateByPoint(). Referenced by execute().

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double GT2005SelfLocator::calcAveragePerceptTypeProbabilities (   )  [private]

Calculates the average possibility for each perceptType and all samples and returns the product over all averages. contains the part of the gt04 resampling method that calculates Returns: product over all average percepttype-probabilities Definition at line 707 of file GT2005SelfLocator.cpp. References averagePerceptTypeProb, and GT2005SelfLocatorSample::perceptProbabilities. Referenced by resample().

void GT2005SelfLocator::resample (   )  [private]

redistibution of the sampleSet according to the probabilities of the samples TODO: template generation Definition at line 748 of file GT2005SelfLocator.cpp. References GT2005SelfLocatorParameters::applyConstantResampling, averagePerceptTypeProb, calcAveragePerceptTypeProbabilities(), GT2005SelfLocatorParameters::constantResamplingRate, CollisionPercept::getCollisionAggregate(), GT2005SampleTemplateGenerator::getNumberOfTemplates(), GT2005SelfLocatorSample::getProbability(), GT2005SampleTemplateGenerator::getTemplate(), GT2005SelfLocatorSample::isUsingOdometry, GT2005SelfLocatorParameters::odometryProbCollision, GT2005SelfLocatorParameters::odometryProbNoCollision, random(), Field::randomPose(), sampleTemplateGenerator, SampleSet< GT2005SelfLocatorSample, SAMPLES_MAX >::swap(), testSample, and testSampleIndex. Referenced by execute().

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double GT2005SelfLocator::calcDistributionValidityByStandardDeviation (   )  [private]

Calculates the localization validity by Standard Deviation. Definition at line 871 of file GT2005SelfLocator.cpp. References alpha, averageRot, averageX, DEBUG_RESPONSE, RobotPose::directionOfGreatestUncertaintyExists, eigenSwap, eigenVal0, eigenVal1, eigenVec0, eigenVec1, gaussian(), RobotPose::greatestUncertainty, idText, max, min, NCOMPLEX_DRAWING, NLINE, normalize(), OUTPUT, Pose2D::rotation, RobotPose::setPositionVariance(), sqr, stdDevRot, Pose2D::translation, varianceCovarianceMatrix, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y. Referenced by calcPose().

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double GT2005SelfLocator::calcDistributionValidityByEntropy (   )  [private]

Calculates the localization validity by Entropy. Definition at line 1108 of file GT2005SelfLocator.cpp. References gaussian(), and pi. Referenced by calcPose().

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RobotPose GT2005SelfLocator::calcPoseFromSubCube (  Cell  poseSpace[POSE_SPACE_GRID][POSE_SPACE_GRID][POSE_SPACE_GRID], int  x, int  y, int  r )  [private]

The function calculates a Pose by averaging the sample poses in a sub cube of the pose-room. Definition at line 1164 of file GT2005SelfLocator.cpp. References Field::clip(), GT2005SelfLocatorParameters::clipRobotPose, Pose2D::getCos(), GT2005SelfLocatorSample::getProbability(), Pose2D::getSin(), RobotPose::getValidity(), GT2005SelfLocatorSample::isValid(), GT2005SelfLocatorSample::next, RobotPose::setPose(), RobotPose::setValidity(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by calcPose().

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void GT2005SelfLocator::calcPose (  Pose2D &  pose, double &  validity )  [private]

The function determines the most probable pose from the sample distribution. Parameters: pose  The pose is returned to this variable. validity  The validity of the pose is returned to this variable. Definition at line 1231 of file GT2005SelfLocator.cpp. References calcDistributionValidityByEntropy(), calcDistributionValidityByStandardDeviation(), calcPoseFromSubCube(), CIRCLE, GT2005SelfLocator::Cell::count, DEBUG_RESPONSE, GT2005SelfLocator::Cell::first, Pose2D::getAngle(), RobotPose::getPose(), Range< double >::getSize(), RobotPose::getValidity(), GT2005SelfLocatorSample::isValid(), GT2005SelfLocatorSample::next, NUM_OF_CALCULATED_POSES, RobotPoseCollection::numberOfPoses, pi2, POSE_SPACE_GRID, RobotPoseCollection::poses, RobotPose::setValidity(), Pose2D::translation, Vector2< double >::x, Boundary< double >::x, Vector2< double >::y, and Boundary< double >::y. Referenced by execute().

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void GT2005SelfLocator::draw (   )  const [private]

The function draws the current sample set to a debug drawing. Definition at line 1467 of file GT2005SelfLocator.cpp. References drawTestSample(), getSampleColor(), NCIRCLE, NCOMPLEX_DRAWING, NLINE, PoseSample::probability, and testSample. Referenced by execute().

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Drawings::Color GT2005SelfLocator::getSampleColor (  double  probability  )  const [private]

Returns a color corresponding to the sample probability. Definition at line 1570 of file GT2005SelfLocator.cpp. References QUASI_ZERO. Referenced by draw(), updateByCenterCircle(), updateByCrossing(), updateByFlag(), updateByGoalPost(), and updateByPoint().

void GT2005SelfLocator::draw (  const Pose2D &  pose, Drawings::Color  color )  const [private]

The function draws an arrow to the sample set drawing. Parameters: pose  The position and direction of the arrow. color  The color of the arrow. Definition at line 1588 of file GT2005SelfLocator.cpp. References NLINE, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

void GT2005SelfLocator::drawTestSample (  const Pose2D &  pose, Drawings::Color  color )  const [private]

The function draws an arrow to the test sample drawing. Parameters: pose  The position and direction of the arrow. color  The color of the arrow. Definition at line 1619 of file GT2005SelfLocator.cpp. References NLINE, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by draw().

void GT2005SelfLocator::updateVariancesBySpeed (  double  speed  )  [private]

The function calculates the variances and trust values from the current speed. Definition at line 550 of file GT2005SelfLocator.cpp. References GT2005SelfLocatorParameters::linePointWeight, GT2005SelfLocatorParameters::linePointZAngleMotionDependency, linePointZAngleMotionDependentVariance, linePointZAngleTrust, GT2005SelfLocatorParameters::linePointZAngleVariance, and QUASI_ZERO.

void GT2005SelfLocator::calculateTrust (   )  [private]

The function calculates the trust values from variance and weight parameters. Definition at line 557 of file GT2005SelfLocator.cpp. References centerCircleOrientationAngleTrust, GT2005SelfLocatorParameters::centerCircleOrientationAngleVariance, GT2005SelfLocatorParameters::centerCircleWeight, centerCircleYAngleTrust, GT2005SelfLocatorParameters::centerCircleYAngleVariance, centerCircleZAngleTrust, GT2005SelfLocatorParameters::centerCircleZAngleVariance, GT2005SelfLocatorParameters::crossingWeight, crossingYAngleTrust, GT2005SelfLocatorParameters::crossingYAngleVariance, crossingZAngleTrust, GT2005SelfLocatorParameters::crossingZAngleVariance, GT2005SelfLocatorParameters::flagWeight, flagYAngleTrust, GT2005SelfLocatorParameters::flagYAngleVariance, GT2005SelfLocatorParameters::goalWeight, goalYAngleTrust, GT2005SelfLocatorParameters::goalYAngleVariance, goalZAngleTrust, GT2005SelfLocatorParameters::goalZAngleVariance, GT2005SelfLocatorParameters::linePointWeight, linePointYAngleTrust, GT2005SelfLocatorParameters::linePointYAngleVariance, linePointZAngleTrust, GT2005SelfLocatorParameters::linePointZAngleVariance, and QUASI_ZERO. Referenced by execute(), and GT2005SelfLocator().

void GT2005SelfLocator::resetSamples (   )  [private]

Reset all samples to random position. Definition at line 1403 of file GT2005SelfLocator.cpp. References Field::randomPose(). Referenced by execute(), and GT2005SelfLocator().

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void GT2005SelfLocator::resetSamples (  const Pose2D &  pose  )  [private]

Reset all samples to a given position. Definition at line 1412 of file GT2005SelfLocator.cpp.

void GT2005SelfLocator::resetSamplesWhenPenalized (   )  [private]

Reset all samples when robot is penalized 25% samples are placed on each side of the field at the center line respectively 50% at random positions. Definition at line 1421 of file GT2005SelfLocator.cpp. References Pose2D::getAngle(), pi_2, Pose2D::random(), Field::randomPose(), Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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Member Data Documentation

const double GT2005SelfLocator::QUASI_ZERO = 0.000001 [static, private]

Definition at line 42 of file GT2005SelfLocator.cpp. Referenced by calculateTrust(), getSampleColor(), updateByFlag(), updateByPoint(), and updateVariancesBySpeed().

SampleSet<GT2005SelfLocatorSample, SAMPLES_MAX> GT2005SelfLocator::sampleSet [private]

the sampleSet Definition at line 92 of file GT2005SelfLocator.h.

bool GT2005SelfLocator::teamColorBlue [private]

Definition at line 93 of file GT2005SelfLocator.h. Referenced by execute().

double GT2005SelfLocator::linePointZAngleMotionDependentVariance [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by updateVariancesBySpeed().

double GT2005SelfLocator::linePointZAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), updateByPoint(), and updateVariancesBySpeed().

double GT2005SelfLocator::linePointYAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), and updateByPoint().

double GT2005SelfLocator::crossingZAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), and updateByCrossing().

double GT2005SelfLocator::crossingYAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), and updateByCrossing().

double GT2005SelfLocator::centerCircleZAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), and updateByCenterCircle().

double GT2005SelfLocator::centerCircleYAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), and updateByCenterCircle().

double GT2005SelfLocator::centerCircleOrientationAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), and updateByCenterCircle().

double GT2005SelfLocator::flagYAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), and updateByFlag().

double GT2005SelfLocator::goalZAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), and GT2005SelfLocator().

double GT2005SelfLocator::goalYAngleTrust [private]

Definition at line 97 of file GT2005SelfLocator.h. Referenced by calculateTrust(), GT2005SelfLocator(), and updateByGoalPost().

Pose2D GT2005SelfLocator::lastOdometry [private]

Definition at line 129 of file GT2005SelfLocator.h.

Pose2D GT2005SelfLocator::lastOdometry2 [private]

the last Odometry, used to calculate the delta_odometry Definition at line 129 of file GT2005SelfLocator.h.

unsigned GT2005SelfLocator::timeStamp [private]

timestap Definition at line 130 of file GT2005SelfLocator.h.

bool GT2005SelfLocator::observationUpdateDone [private]

a flag indicating if an observation update was done during the current run of execute Definition at line 131 of file GT2005SelfLocator.h. Referenced by execute(), lineObservationUpdate(), updateByFlag(), and updateByGoalPost().

double GT2005SelfLocator::speed [private]

current robot speed Definition at line 132 of file GT2005SelfLocator.h.

double GT2005SelfLocator::averagePerceptTypeProb[GT2005SelfLocatorSample::numberOfPerceptTypes] [private]

the average probability for each PerceptType and all Samples Definition at line 134 of file GT2005SelfLocator.h. Referenced by calcAveragePerceptTypeProbabilities(), and resample().

GT2005SampleTemplateGenerator GT2005SelfLocator::sampleTemplateGenerator [private]

this class encapsules template generation Definition at line 136 of file GT2005SelfLocator.h. Referenced by execute(), and resample().

GT2005LineCrossingsTable GT2005SelfLocator::lineCrossingsTable [private]

Definition at line 138 of file GT2005SelfLocator.h. Referenced by updateByCrossing().

GT2005SelfLocatorSample* GT2005SelfLocator::testSample [private]

testing and debugging stuff Definition at line 143 of file GT2005SelfLocator.h. Referenced by draw(), execute(), GT2005SelfLocator(), and resample().

int GT2005SelfLocator::testSampleIndex [private]

Definition at line 144 of file GT2005SelfLocator.h. Referenced by execute(), GT2005SelfLocator(), resample(), updateByCenterCircle(), updateByCrossing(), updateByFlag(), updateByGoalPost(), and updateByPoint().

Vector2<double> GT2005SelfLocator::lastModelCrossing [private]

Definition at line 145 of file GT2005SelfLocator.h. Referenced by updateByCrossing().

Vector2<double> GT2005SelfLocator::lastSeenCrossing [private]

Definition at line 145 of file GT2005SelfLocator.h. Referenced by updateByCrossing().

GT2005LineCrossingsTable::CrossingClass GT2005SelfLocator::lastSeenCrossingClass [private]

Definition at line 146 of file GT2005SelfLocator.h. Referenced by updateByCrossing().

Pose2D GT2005SelfLocator::lastSeenCenterCircle [private]

Definition at line 147 of file GT2005SelfLocator.h.

GT2005SelfLocatorParameters GT2005SelfLocator::parameters [private]

Definition at line 149 of file GT2005SelfLocator.h.

Vector2<double> GT2005SelfLocator::eigenVec0 [private]

eigenvectors of particle distribution covariance matrix Definition at line 152 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

Vector2<double> GT2005SelfLocator::eigenVec1 [private]

eigenvectors of particle distribution covariance matrix Definition at line 152 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::varianceCovarianceMatrix[2][2] [private]

Definition at line 154 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::stdDevRot [private]

Definition at line 155 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::averageX [private]

Definition at line 156 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::averageY [private]

Definition at line 157 of file GT2005SelfLocator.h.

double GT2005SelfLocator::eigenVal0 [private]

Definition at line 158 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::eigenVal1 [private]

Definition at line 158 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::eigenSwap [private]

Definition at line 158 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

double GT2005SelfLocator::averageRot [private]

Definition at line 159 of file GT2005SelfLocator.h. Referenced by calcDistributionValidityByStandardDeviation().

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

• Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocator.h
• Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocator.cpp

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