GT2005StableSampleTemplateGenerator Class Reference

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

#include <GT2005StableSampleTemplateGenerator.h>

Inheritance diagram for GT2005StableSampleTemplateGenerator:

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[legend]List of all members.

Public Member Functions
	GT2005StableSampleTemplateGenerator ()
	Constructor.
GT2005StableSelfLocatorSample	getTemplate ()
	this method returns a generated template
void	generateTemplates (const LandmarksPercept &landmarksPercept, const LinesPercept &linesPercept, const Pose2D &odometry, int numberOfPerceptTypes, const LinesPercept::LineType types[LinesPercept::numberOfLineTypes])
	this method generates new sample templates
int	getNumberOfTemplates ()
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)
Private Attributes
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.

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Detailed Description

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

Definition at line 17 of file GT2005StableSampleTemplateGenerator.h.

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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 43 of file GT2005StableSampleTemplateGenerator.h.

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Constructor & Destructor Documentation

GT2005StableSampleTemplateGenerator::GT2005StableSampleTemplateGenerator (   )

Constructor. Definition at line 14 of file GT2005StableSampleTemplateGenerator.cpp.

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Member Function Documentation

GT2005StableSelfLocatorSample GT2005StableSampleTemplateGenerator::getTemplate (   )

this method returns a generated template Definition at line 27 of file GT2005StableSampleTemplateGenerator.cpp. References Pose2D::getAngle(), Boundary< double >::isInside(), Pose2D::random(), Field::randomPose(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2005StableSelfLocator::resample().

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void GT2005StableSampleTemplateGenerator::generateTemplates (  const LandmarksPercept &  landmarksPercept, const LinesPercept &  linesPercept, const Pose2D &  odometry, int  numberOfPerceptTypes, const LinesPercept::LineType  types[LinesPercept::numberOfLineTypes] )

this method generates new sample templates COPIED FROM UNSTABLE VERSION!!!/// Definition at line 212 of file GT2005StableSampleTemplateGenerator.cpp. References Vector2< int >::abs(), Vector2< V >::abs(), addFlag(), Flag::angle, LandmarksPercept::cameraOffset, Flag::distance, LandmarksPercept::flags, getBearing(), getPlayer(), Player::getTeamColor(), LandmarksPercept::numberOfFlags, LandmarksPercept::numberOfGoals, pi, point, LinesPercept::points, poseFromBearings(), poseFromBearingsAndDistance(), Vector2< int >::x, Vector3< double >::x, Vector2< V >::x, Vector2< int >::y, Vector3< double >::y, and Vector2< V >::y. Referenced by GT2005StableSelfLocator::execute().

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int GT2005StableSampleTemplateGenerator::getNumberOfTemplates (   )

Definition at line 313 of file GT2005StableSampleTemplateGenerator.cpp. Referenced by GT2005StableSelfLocator::resample().

bool GT2005StableSampleTemplateGenerator::getBearing (  const LandmarksPercept &  landmarksPercept, int  i, Vector2< double > &  mark, double &  dir, double &  dist )  [private]

Definition at line 144 of file GT2005StableSampleTemplateGenerator.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. Referenced by generateTemplates().

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int GT2005StableSampleTemplateGenerator::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 101 of file GT2005StableSampleTemplateGenerator.cpp. References Vector2< V >::abs(), alpha, pi, pi_2, Vector2< V >::x, and Vector2< V >::y. Referenced by generateTemplates().

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bool GT2005StableSampleTemplateGenerator::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 58 of file GT2005StableSampleTemplateGenerator.cpp. References Vector2< V >::abs(), pi, pi2, Vector2< V >::x, and Vector2< V >::y. Referenced by generateTemplates().

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void GT2005StableSampleTemplateGenerator::addFlag (  const Flag &  flag  )  [private]

Definition at line 183 of file GT2005StableSampleTemplateGenerator.cpp. References ConditionalBoundary::isOnBorder(), Range< double >::max, Range< double >::min, Flag::type, and Boundary< double >::x. Referenced by generateTemplates().

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Member Data Documentation

Flag GT2005StableSampleTemplateGenerator::flags[FLAGS_MAX] [private]

A buffer for previously seen flags. Definition at line 48 of file GT2005StableSampleTemplateGenerator.h.

int GT2005StableSampleTemplateGenerator::numberOfTemplates [private]

The number of templates generated. Definition at line 50 of file GT2005StableSampleTemplateGenerator.h.

int GT2005StableSampleTemplateGenerator::numberOfFlags [private]

The number of templates generated. Definition at line 50 of file GT2005StableSampleTemplateGenerator.h.

int GT2005StableSampleTemplateGenerator::nextTemplate [private]

The next template delivered. Definition at line 50 of file GT2005StableSampleTemplateGenerator.h.

int GT2005StableSampleTemplateGenerator::randomFactor [private]

A factor that is increased if more templates are required. Definition at line 53 of file GT2005StableSampleTemplateGenerator.h.

Pose2D GT2005StableSampleTemplateGenerator::templates[TEMPLATES_MAX] [private]

Templates for poses replacing bad samples. Definition at line 54 of file GT2005StableSampleTemplateGenerator.h.

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

• Modules/SelfLocator/GT2005StableSelfLocator/GT2005StableSampleTemplateGenerator.h
• Modules/SelfLocator/GT2005StableSelfLocator/GT2005StableSampleTemplateGenerator.cpp

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