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RobotPose Class Reference

A Pose2D with validity. More...

#include <RobotPose.h>

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List of all members.

Public Member Functions

 RobotPose ()
 Constructor.

const RobotPose & operator= (const RobotPose &other)
 RobotPose (const Pose2D &otherPose)
 Cast Contructor.

const RobotPose & operator= (const Pose2D &other)
 Assignment operator.

void setPose (const Pose2D &p)
 The function sets the current pose.

void setValidity (const double v)
 The function sets the validity of the current pose.

void setPositionVariance (const double v)
 The function sets the validity of the current pose.

void setFrameNumber (unsigned long frameNumber)
 The function sets the frame number of the current pose.

void setTimestamp (unsigned long timestamp)
 The function sets the timestamp of the current pose.

const Pose2D getPose () const
 The function returns the current pose.

const double & getValidity () const
 The function returns the validity of the current pose.

const double & getPositionVariance () const
 The function returns the variance of the current particle distribuiton of the robot pose.

double getPositionStandardDeviation () const
 The function returns the standard deviation of the current particle distribuiton of the robot pose.

void calculateMovement (const Pose2D &movementPerSec, double time, RobotPose &result) const
 The frame number when perceived.


Public Attributes

double validity
 The validity of the robot pose.

double positionVariance
 The variance of the particle distribution from which the pose was generated.

Pose2D greatestUncertainty
 direction of greatest uncertainty from the (x,y) average of all particles

bool directionOfGreatestUncertaintyExists
 if particle distribution is symmetrical, this is false, otherwise its set to true

unsigned long frameNumber
 The time when the position is calculated.

unsigned long timestamp
 Speed measured by perceived distance to goal.

double speedbyDistanceToGoal
 The distance to the field border.

double distanceToBorder
 The angle to the field border.

double angleToBorder

Friends

In & operator>> (In &stream, RobotPose &robotPose)
 Streaming operator that reads a robot pose from a stream.

Out & operator<< (Out &stream, const RobotPose &robotPose)
 Streaming operator that writes a robot pose to a stream.

Detailed Description

A Pose2D with validity.

Definition at line 19 of file RobotPose.h.

Constructor & Destructor Documentation

RobotPose::RobotPose (   )  [inline]
 

Constructor.

Definition at line 31 of file RobotPose.h.

References directionOfGreatestUncertaintyExists.

RobotPose::RobotPose (  const Pose2D &  otherPose  )  [inline]
 

Cast Contructor.

Definition at line 48 of file RobotPose.h.

References directionOfGreatestUncertaintyExists, greatestUncertainty, Pose2D::Pose2D(), and positionVariance.

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Member Function Documentation

const RobotPose& RobotPose::operator= (  const RobotPose &  other  )  [inline]
 

Definition at line 33 of file RobotPose.h.

References directionOfGreatestUncertaintyExists, frameNumber, greatestUncertainty, positionVariance, timestamp, and validity.

const RobotPose& RobotPose::operator= (  const Pose2D &  other  )  [inline]
 

Assignment operator.

Parameters:
other The other Pose2D that is assigned to this one
Returns:
A reference to this object after the assignment.

Reimplemented from Pose2D.

Definition at line 56 of file RobotPose.h.

void RobotPose::setPose (  const Pose2D &  p  )  [inline]
 

The function sets the current pose.

Parameters:
p The pose.

Definition at line 67 of file RobotPose.h.

Referenced by SlamSelfLocator::calcPoseFromSubCube(), GT2005StableSelfLocator::calcPoseFromSubCube(), GT2005SelfLocator::calcPoseFromSubCube(), SlamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2005SelfLocator::execute(), and GT2004SelfLocator::execute().

void RobotPose::setValidity (  const double  v  )  [inline]
 

The function sets the validity of the current pose.

Parameters:
v The validity.

Definition at line 75 of file RobotPose.h.

Referenced by SlamSelfLocator::calcPose(), GT2005StableSelfLocator::calcPose(), GT2005SelfLocator::calcPose(), SlamSelfLocator::calcPoseFromSubCube(), GT2005StableSelfLocator::calcPoseFromSubCube(), GT2005SelfLocator::calcPoseFromSubCube(), SlamSelfLocator::execute(), GTCamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2005SelfLocator::execute(), GT2004SelfLocator::execute(), GTCamWorldState::getRobotPose(), GTCamSelfLocator::GTCamSelfLocator(), and operator>>().

void RobotPose::setPositionVariance (  const double  v  )  [inline]
 

The function sets the validity of the current pose.

Parameters:
v The validity.

Definition at line 81 of file RobotPose.h.

References positionVariance.

Referenced by GT2005SelfLocator::calcDistributionValidityByStandardDeviation().

void RobotPose::setFrameNumber (  unsigned long  frameNumber  )  [inline]
 

The function sets the frame number of the current pose.

Definition at line 86 of file RobotPose.h.

Referenced by SlamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2005SelfLocator::execute(), GT2004SelfLocator::execute(), and LogPlayer::saveSynchronized().

void RobotPose::setTimestamp (  unsigned long  timestamp  )  [inline]
 

The function sets the timestamp of the current pose.

Definition at line 91 of file RobotPose.h.

Referenced by SlamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2005SelfLocator::execute(), GT2004SelfLocator::execute(), and LogPlayer::saveSynchronized().

const Pose2D RobotPose::getPose (   )  const [inline]
 

The function returns the current pose.

Returns:
The pose.
Attention:
this function is obsolete and should not be used any more

instead this object IS a pose instead of owning one

Definition at line 100 of file RobotPose.h.

Referenced by GT2005ObstaclesLocator::addPSDPercept(), SlamSelfLocator::calcPose(), GT2005StableSelfLocator::calcPose(), GT2005SelfLocator::calcPose(), AngleSymbols::drawAngles(), AngleSymbols::drawAngleShownByLeds(), GT2005BehaviorControl::drawOptions(), SlamSelfLocator::execute(), KickLogger::execute(), GT2005BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2005BasicBehaviorTurnAroundPointWithRadius::execute(), GT2005BasicBehaviorTurnAroundPointFast::execute(), GT2005BasicBehaviorTurnAroundPoint::execute(), GT2005BasicBehaviorGoToBallWithoutTurning::execute(), GT2005BasicBehaviorGoToBallPropagated::execute(), GT2005BasicBehaviorGoToBall::execute(), GT2005BasicBehaviorNewGoToBall::execute(), Geometry::fieldCoord2Relative(), PassSymbols::getAngleToPassReceiver(), PassSymbols::getAngleToPassSender(), RobotPoseSymbols::getDistanceToBorder(), GT2005StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getHypotheticalAngle(), BallSymbols::getKnownAngle(), BallSymbols::getKnownOrNearAngle(), BallSymbols::getPropagatedAngle(), BallSymbols::getSeenAngle(), KickSelectionSymbols::intentionalKickPossible(), KickSelectionSymbols::retrieveKick(), GTStandardConverter::setData(), PlayerPose::setRobotPose(), ObstaclesSymbols::update(), and BallSymbols::update().

const double& RobotPose::getValidity (   )  const [inline]
 

The function returns the validity of the current pose.

Returns:
The validity.

Definition at line 108 of file RobotPose.h.

Referenced by GT2005SelfLocator::calcPose(), SlamSelfLocator::calcPoseFromSubCube(), GT2005StableSelfLocator::calcPoseFromSubCube(), GT2005SelfLocator::calcPoseFromSubCube(), GT2005TeamBallLocator::calcRepresentativeParticleContainer(), MotionRatingBehaviorControl::doLocalise(), MotionRatingBehaviorControl::execute(), operator<<(), GT2005BehaviorControl::postExecute(), CLogAnalyzerBase::readRemoteCamWorldState(), RobotPoseSymbols::registerSymbols(), LogPlayer::saveSynchronized(), GTStandardConverter::setData(), and PlayerPose::setRobotPose().

const double& RobotPose::getPositionVariance (   )  const [inline]
 

The function returns the variance of the current particle distribuiton of the robot pose.

Returns:
The variance.

Definition at line 114 of file RobotPose.h.

References positionVariance.

Referenced by RobotPoseSymbols::registerSymbols(), and GT2005HeadControl::showVisualizationQuality().

double RobotPose::getPositionStandardDeviation (   )  const
 

The function returns the standard deviation of the current particle distribuiton of the robot pose.

Returns:
The standard-deviation.

Definition at line 9 of file RobotPose.cpp.

References positionVariance.

Referenced by RobotPoseSymbols::calculateSpeedFactorFromRobotPositionStandardDeviation(), and RobotPoseSymbols::getPositionStandardDeviation().

void RobotPose::calculateMovement (  const Pose2D &  movementPerSec,
double  time,
RobotPose &  result
)  const
 

The frame number when perceived.

Parameters:
movementPerSec The movement with x- and y-translation in mm/s and rotation in rad/s
time The time in sec how long the robot moves
result The target pose.

Definition at line 14 of file RobotPose.cpp.

References Vector2< V >::abs(), Pose2D::rotation, Pose2D::translation, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

Referenced by VLCImageProcessor::execute().

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Friends And Related Function Documentation

In& operator>> (  In &  stream,
RobotPose &  robotPose
)  [friend]
 

Streaming operator that reads a robot pose from a stream.

Parameters:
stream The stream from which is read.
robotPose The robot pose object.
Returns:
The stream.

Definition at line 38 of file RobotPose.cpp.

Out& operator<< (  Out &  stream,
const RobotPose &  robotPose
)  [friend]
 

Streaming operator that writes a robot pose to a stream.

Parameters:
stream The stream to write on.
robotPose The robot pose object.
Returns:
The stream.

Definition at line 57 of file RobotPose.cpp.

Member Data Documentation

double RobotPose::validity
 

The validity of the robot pose.

Definition at line 22 of file RobotPose.h.

Referenced by operator<<(), operator=(), and operator>>().

double RobotPose::positionVariance
 

The variance of the particle distribution from which the pose was generated.

Definition at line 23 of file RobotPose.h.

Referenced by getPositionStandardDeviation(), getPositionVariance(), operator=(), RobotPose(), and setPositionVariance().

Pose2D RobotPose::greatestUncertainty
 

direction of greatest uncertainty from the (x,y) average of all particles

Definition at line 24 of file RobotPose.h.

Referenced by GT2005SelfLocator::calcDistributionValidityByStandardDeviation(), operator=(), and RobotPose().

bool RobotPose::directionOfGreatestUncertaintyExists
 

if particle distribution is symmetrical, this is false, otherwise its set to true

Definition at line 25 of file RobotPose.h.

Referenced by GT2005SelfLocator::calcDistributionValidityByStandardDeviation(), operator=(), and RobotPose().

unsigned long RobotPose::frameNumber
 

The time when the position is calculated.

Definition at line 135 of file RobotPose.h.

Referenced by GTCamSelfLocator::execute(), operator=(), and LogPlayer::saveCSV().

unsigned long RobotPose::timestamp
 

Speed measured by perceived distance to goal.

Definition at line 138 of file RobotPose.h.

Referenced by GTCamSelfLocator::execute(), CLogAnalyzerBase::interpolate(), operator=(), CLogAnalyzerBase::readRemoteCamWorldState(), CLogAnalyzerBase::readWorldState(), LogPlayer::saveCSV(), LogPlayer::saveSynchronized(), and PlayerPose::setRobotPose().

double RobotPose::speedbyDistanceToGoal
 

The distance to the field border.

Definition at line 141 of file RobotPose.h.

Referenced by GTCamSelfLocator::GTCamSelfLocator().

double RobotPose::distanceToBorder
 

The angle to the field border.

Definition at line 144 of file RobotPose.h.

double RobotPose::angleToBorder
 

Definition at line 145 of file RobotPose.h.

Referenced by RobotPoseSymbols::getAngleToBorder().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:20:01 2006 for GT2005 by doxygen 1.3.6