GT2005StableSelfLocatorSample Class Reference

The class represents a sample. More...

#include <GT2005StableSelfLocatorSample.h>

Inheritance diagram for GT2005StableSelfLocatorSample:

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[legend]List of all members.

Public Types
enum	{ UNINITIALIZED_PROBABILITY = 2, NO_PERCEPT_PROBABILITY = 3, PERCEPT_TTL_MS = 2000 }
enum	PerceptType {   xFieldLine, yFieldLine, border,   flag, yellowGoal, skyblueGoal,   lineCrossing, numberOfPerceptTypes }
Public Member Functions
	GT2005StableSelfLocatorSample ()
	Constructor.
	GT2005StableSelfLocatorSample (const Pose2D &pose)
	Constructor.
double	getProbability () const
void	updateProbability ()
void	updateProbability (const double *average)
void	setPerceptProbability (GT2005StableSelfLocatorSample::PerceptType type, double value)
	sets the probability for a percept.
bool	isValid () const
Public Attributes
Pose2D	camera
	Temporary representing the pose of the camera.
double	perceptProbabilities [numberOfPerceptTypes]
	a probability for each percept-type recognized
long	perceptTimestamps [numberOfPerceptTypes]
GT2005StableSelfLocatorSample *	next
	The next sample in the cell cube.
Static Public Attributes
double	paramProbUpLimit
double	paramProbDownLimit
double	paramProbDelay

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Detailed Description

The class represents a sample.

Definition at line 16 of file GT2005StableSelfLocatorSample.h.

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Member Enumeration Documentation

anonymous enum

Enumeration values: UNINITIALIZED_PROBABILITY  NO_PERCEPT_PROBABILITY  PERCEPT_TTL_MS  Definition at line 20 of file GT2005StableSelfLocatorSample.h.

enum GT2005StableSelfLocatorSample::PerceptType

Enumeration values: xFieldLine  yFieldLine  border  flag  yellowGoal  skyblueGoal  lineCrossing  numberOfPerceptTypes  the number of percept types Definition at line 32 of file GT2005StableSelfLocatorSample.h.

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Constructor & Destructor Documentation

GT2005StableSelfLocatorSample::GT2005StableSelfLocatorSample (   )

Constructor. Definition at line 12 of file GT2005StableSelfLocatorSample.cpp.

GT2005StableSelfLocatorSample::GT2005StableSelfLocatorSample (  const Pose2D &  pose  )

Constructor. Parameters: pose  The pose of the sample. Definition at line 23 of file GT2005StableSelfLocatorSample.cpp. References SystemCall::getCurrentSystemTime().

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Member Function Documentation

double GT2005StableSelfLocatorSample::getProbability (   )  const [inline]

Definition at line 60 of file GT2005StableSelfLocatorSample.h. Referenced by GT2005StableSelfLocator::calcPoseFromSubCube(), and GT2005StableSelfLocator::resample().

void GT2005StableSelfLocatorSample::updateProbability (   )

Definition at line 40 of file GT2005StableSelfLocatorSample.cpp.

void GT2005StableSelfLocatorSample::updateProbability (  const double *  average  )

Definition at line 62 of file GT2005StableSelfLocatorSample.cpp. References max, NO_PERCEPT_PROBABILITY, paramProbDelay, and paramProbUpLimit.

void GT2005StableSelfLocatorSample::setPerceptProbability (  GT2005StableSelfLocatorSample::PerceptType  type, double  value )

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 93 of file GT2005StableSelfLocatorSample.cpp. References paramProbDownLimit, and paramProbUpLimit. Referenced by GT2005StableSelfLocator::updateByCenterCircle(), GT2005StableSelfLocator::updateByCrossing(), GT2005StableSelfLocator::updateByFlag(), GT2005StableSelfLocator::updateByGoalPost(), and GT2005StableSelfLocator::updateByPoint().

bool GT2005StableSelfLocatorSample::isValid (   )  const [inline]

Definition at line 84 of file GT2005StableSelfLocatorSample.h. Referenced by GT2005StableSelfLocator::calcPose(), and GT2005StableSelfLocator::calcPoseFromSubCube().

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Member Data Documentation

double GT2005StableSelfLocatorSample::paramProbUpLimit [static]

Initial value: 0.01 GT2005StableSelfLocatorSample::paramProbDownLimit = 0.005 GT2005StableSelfLocatorSample::paramProbDelay = 3 Definition at line 8 of file GT2005StableSelfLocatorSample.cpp. Referenced by setPerceptProbability(), and updateProbability().

double GT2005StableSelfLocatorSample::paramProbDownLimit [static]

Definition at line 26 of file GT2005StableSelfLocatorSample.h. Referenced by setPerceptProbability().

double GT2005StableSelfLocatorSample::paramProbDelay [static]

Definition at line 26 of file GT2005StableSelfLocatorSample.h. Referenced by updateProbability().

Pose2D GT2005StableSelfLocatorSample::camera

Temporary representing the pose of the camera. Definition at line 44 of file GT2005StableSelfLocatorSample.h. Referenced by GT2005StableSelfLocator::motionUpdate(), GT2005StableSelfLocator::updateByFlag(), and GT2005StableSelfLocator::updateByGoalPost().

double GT2005StableSelfLocatorSample::perceptProbabilities[numberOfPerceptTypes]

a probability for each percept-type recognized Definition at line 45 of file GT2005StableSelfLocatorSample.h. Referenced by GT2005StableSelfLocator::calcAveragePerceptTypeProbabilities().

long GT2005StableSelfLocatorSample::perceptTimestamps[numberOfPerceptTypes]

Definition at line 46 of file GT2005StableSelfLocatorSample.h.

GT2005StableSelfLocatorSample* GT2005StableSelfLocatorSample::next

The next sample in the cell cube. Definition at line 47 of file GT2005StableSelfLocatorSample.h. Referenced by GT2005StableSelfLocator::calcPose(), and GT2005StableSelfLocator::calcPoseFromSubCube().

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

• Modules/SelfLocator/GT2005StableSelfLocator/GT2005StableSelfLocatorSample.h
• Modules/SelfLocator/GT2005StableSelfLocator/GT2005StableSelfLocatorSample.cpp

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