GT2005SelfLocatorSample Class Reference

The class represents a sample. More...

#include <GT2005SelfLocatorSample.h>

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[legend]List of all members.

Public Types
enum	{ UNINITIALIZED_PROBABILITY = 2 }
enum	PerceptType {   xFieldLine, yFieldLine, border,   flag, goal, lineCrossing,   numberOfPerceptTypes }
Public Member Functions
	GT2005SelfLocatorSample ()
	Constructor.
	GT2005SelfLocatorSample (const Pose2D &pose)
	Constructor.
double	getProbability () const
void	reset ()
void	updateProbability (const double *average, const GT2005SelfLocatorParameters &parameters)
void	setPerceptProbability (GT2005SelfLocatorSample::PerceptType type, double value, const GT2005SelfLocatorParameters &parameters)
	sets the probability for a percept.
bool	isValid () const
void	scaleProbabilities (double factor)
Public Attributes
Pose2D	camera
	Temporary representing the pose of the camera.
double	perceptProbabilities [numberOfPerceptTypes]
	a probability for each percept-type recognized
long	perceptTimestamps [numberOfPerceptTypes]
GT2005SelfLocatorSample *	next
	The next sample in the cell cube.
bool	isUsingOdometry
	Whether this sample receives odometry updates or not.

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Detailed Description

The class represents a sample.

Definition at line 27 of file GT2005SelfLocatorSample.h.

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Member Enumeration Documentation

anonymous enum

Enumeration values: UNINITIALIZED_PROBABILITY  Definition at line 31 of file GT2005SelfLocatorSample.h.

enum GT2005SelfLocatorSample::PerceptType

Enumeration values: xFieldLine  yFieldLine  border  flag  goal  lineCrossing  numberOfPerceptTypes  the number of percept types Definition at line 37 of file GT2005SelfLocatorSample.h.

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Constructor & Destructor Documentation

GT2005SelfLocatorSample::GT2005SelfLocatorSample (   )

Constructor. Definition at line 13 of file GT2005SelfLocatorSample.cpp. References reset().

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GT2005SelfLocatorSample::GT2005SelfLocatorSample (  const Pose2D &  pose  )

Constructor. Parameters: pose  The pose of the sample. Definition at line 18 of file GT2005SelfLocatorSample.cpp. References reset().

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Member Function Documentation

double GT2005SelfLocatorSample::getProbability (   )  const [inline]

Definition at line 65 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::calcPoseFromSubCube(), and GT2005SelfLocator::resample().

void GT2005SelfLocatorSample::reset (   )

Definition at line 24 of file GT2005SelfLocatorSample.cpp. References SystemCall::getCurrentSystemTime(), isUsingOdometry, numberOfPerceptTypes, perceptProbabilities, perceptTimestamps, and UNINITIALIZED_PROBABILITY. Referenced by GT2005SelfLocatorSample().

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void GT2005SelfLocatorSample::updateProbability (  const double *  average, const GT2005SelfLocatorParameters &  parameters )

Definition at line 41 of file GT2005SelfLocatorSample.cpp. References max, numberOfPerceptTypes, and perceptProbabilities.

void GT2005SelfLocatorSample::setPerceptProbability (  GT2005SelfLocatorSample::PerceptType  type, double  value, const GT2005SelfLocatorParameters &  parameters )

sets the probability for a percept. replaces setProbability in GT04SL limits change of probability to +paramProbUpLimit and -paramProbDownLimit differs from gt code by strange part dependent on goal type Parameters: type  of the percept the probability is updated for Returns: value the probability for the percept Definition at line 68 of file GT2005SelfLocatorSample.cpp. References flag, SystemCall::getCurrentSystemTime(), numberOfPerceptTypes, perceptProbabilities, and perceptTimestamps. Referenced by GT2005SelfLocator::updateByCenterCircle(), GT2005SelfLocator::updateByCrossing(), GT2005SelfLocator::updateByFlag(), GT2005SelfLocator::updateByGoalPost(), and GT2005SelfLocator::updateByPoint().

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bool GT2005SelfLocatorSample::isValid (   )  const [inline]

Definition at line 85 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::calcPose(), and GT2005SelfLocator::calcPoseFromSubCube().

void GT2005SelfLocatorSample::scaleProbabilities (  double  factor  )

Definition at line 110 of file GT2005SelfLocatorSample.cpp. References numberOfPerceptTypes, perceptProbabilities, and UNINITIALIZED_PROBABILITY.

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Member Data Documentation

Pose2D GT2005SelfLocatorSample::camera

Temporary representing the pose of the camera. Definition at line 48 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::motionUpdate(), GT2005SelfLocator::updateByFlag(), and GT2005SelfLocator::updateByGoalPost().

double GT2005SelfLocatorSample::perceptProbabilities[numberOfPerceptTypes]

a probability for each percept-type recognized Definition at line 49 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::calcAveragePerceptTypeProbabilities(), reset(), scaleProbabilities(), setPerceptProbability(), and updateProbability().

long GT2005SelfLocatorSample::perceptTimestamps[numberOfPerceptTypes]

Definition at line 50 of file GT2005SelfLocatorSample.h. Referenced by reset(), and setPerceptProbability().

GT2005SelfLocatorSample* GT2005SelfLocatorSample::next

The next sample in the cell cube. Definition at line 51 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::calcPose(), and GT2005SelfLocator::calcPoseFromSubCube().

bool GT2005SelfLocatorSample::isUsingOdometry

Whether this sample receives odometry updates or not. Definition at line 52 of file GT2005SelfLocatorSample.h. Referenced by GT2005SelfLocator::motionUpdate(), GT2005SelfLocator::resample(), and reset().

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

• Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocatorSample.h
• Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocatorSample.cpp

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