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SlamLineCrossingsTable Class Reference

#include <SlamLineCrossingsTable.h>

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List of all members.

Public Types

enum  CrossingType { lineCrossing, middleCircle }
enum  CrossingClass {
  unknownCrossing, virtualCrossing, lCrossing,
  tCrossing, falseCrossing
}
enum  {
  NUMBER_OF_CROSSINGS = 20, NUMBER_OF_CLASSIFIED_CROSSINGS = 18, NUMBER_OF_VIRTUAL_CROSSINGS = 4,
  NUMBER_OF_T_CROSSINGS = 6, NUMBER_OF_L_CROSSINGS = 8, NUMBER_OF_FALSE_CROSSINGS = 2
}

Public Member Functions

 SlamLineCrossingsTable ()
Vector2< double > getClosestPoint (const Vector2< double > &point, CrossingType type)
Vector2< double > getClassifiedClosestPoint (const Vector2< double > &point, CrossingClass crossingClass)

Public Attributes

Vector2< double > allCrossings [NUMBER_OF_CLASSIFIED_CROSSINGS]
Vector2< double > virtualCrossings [NUMBER_OF_VIRTUAL_CROSSINGS]
Vector2< double > tCrossings [NUMBER_OF_T_CROSSINGS]
Vector2< double > lCrossings [NUMBER_OF_L_CROSSINGS]
Vector2< double > falseCrossings [NUMBER_OF_FALSE_CROSSINGS]

Static Public Attributes

int NO_POINT_DISTANCE = 100000
double crossingsX [NUMBER_OF_CROSSINGS]
double crossingsY [NUMBER_OF_CROSSINGS]

Private Member Functions

void initAllCrossings ()
void initVirtualCrossings ()
void initTCrossings ()
void initLCrossings ()
void initFalseCrossings ()

Member Enumeration Documentation

enum SlamLineCrossingsTable::CrossingType
 

Enumeration values:
lineCrossing 
middleCircle 

Definition at line 14 of file SlamLineCrossingsTable.h.

enum SlamLineCrossingsTable::CrossingClass
 

Enumeration values:
unknownCrossing 
virtualCrossing 
lCrossing 
tCrossing 
falseCrossing 

Definition at line 19 of file SlamLineCrossingsTable.h.

anonymous enum
 

Enumeration values:
NUMBER_OF_CROSSINGS 
NUMBER_OF_CLASSIFIED_CROSSINGS 
NUMBER_OF_VIRTUAL_CROSSINGS 
NUMBER_OF_T_CROSSINGS 
NUMBER_OF_L_CROSSINGS 
NUMBER_OF_FALSE_CROSSINGS 

Definition at line 34 of file SlamLineCrossingsTable.h.

Constructor & Destructor Documentation

SlamLineCrossingsTable::SlamLineCrossingsTable (   ) 
 

Definition at line 62 of file SlamLineCrossingsTable.cpp.

References initAllCrossings(), initFalseCrossings(), initLCrossings(), initTCrossings(), and initVirtualCrossings().

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Member Function Documentation

Vector2< double > SlamLineCrossingsTable::getClosestPoint (  const Vector2< double > &  point,
CrossingType  type
) 
 

Definition at line 72 of file SlamLineCrossingsTable.cpp.

References Vector2< V >::abs(), crossingsX, crossingsY, NO_POINT_DISTANCE, and point.

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Vector2< double > SlamLineCrossingsTable::getClassifiedClosestPoint (  const Vector2< double > &  point,
CrossingClass  crossingClass
) 
 

Definition at line 90 of file SlamLineCrossingsTable.cpp.

References Vector2< V >::abs(), NO_POINT_DISTANCE, and point.

Referenced by SlamSelfLocator::updateByCrossing().

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void SlamLineCrossingsTable::initAllCrossings (   )  [private]
 

Definition at line 137 of file SlamLineCrossingsTable.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by SlamLineCrossingsTable().

void SlamLineCrossingsTable::initVirtualCrossings (   )  [private]
 

Definition at line 200 of file SlamLineCrossingsTable.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by SlamLineCrossingsTable().

void SlamLineCrossingsTable::initTCrossings (   )  [private]
 

Definition at line 221 of file SlamLineCrossingsTable.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by SlamLineCrossingsTable().

void SlamLineCrossingsTable::initLCrossings (   )  [private]
 

Definition at line 242 of file SlamLineCrossingsTable.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by SlamLineCrossingsTable().

void SlamLineCrossingsTable::initFalseCrossings (   )  [private]
 

Definition at line 271 of file SlamLineCrossingsTable.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by SlamLineCrossingsTable().

Member Data Documentation

int SlamLineCrossingsTable::NO_POINT_DISTANCE = 100000 [static]
 

Definition at line 3 of file SlamLineCrossingsTable.cpp.

Referenced by getClassifiedClosestPoint(), and getClosestPoint().

double SlamLineCrossingsTable::crossingsX [static]
 

Initial value:

 { 
    xPosOwnGroundline,
    xPosOwnGroundline,
    xPosOwnGroundline,
    xPosOwnGroundline,

    xPosOwnPenaltyArea,
    xPosOwnPenaltyArea,
    xPosOwnPenaltyArea,
    xPosOwnPenaltyArea,

    xPosHalfWayLine,
    xPosHalfWayLine,
    xPosHalfWayLine,
    xPosHalfWayLine,

    xPosOpponentPenaltyArea,
    xPosOpponentPenaltyArea,
    xPosOpponentPenaltyArea,
    xPosOpponentPenaltyArea,

    xPosOpponentGroundline,
    xPosOpponentGroundline,
    xPosOpponentGroundline,
    xPosOpponentGroundline

    
  }

Definition at line 5 of file SlamLineCrossingsTable.cpp.

Referenced by getClosestPoint().

double SlamLineCrossingsTable::crossingsY [static]
 

Initial value:

{
    yPosLeftGroundline,
    yPosLeftPenaltyArea,
    yPosRightPenaltyArea,
    yPosRightGroundline,

    yPosLeftGroundline,
    yPosLeftPenaltyArea,
    yPosRightPenaltyArea,
    yPosRightGroundline,

    yPosLeftGroundline,
    yPosLeftPenaltyArea,
    yPosRightPenaltyArea,
    yPosRightGroundline,

    yPosLeftGroundline,
    yPosLeftPenaltyArea,
    yPosRightPenaltyArea,
    yPosRightGroundline,

    yPosLeftGroundline,
    yPosLeftPenaltyArea,
    yPosRightPenaltyArea,
    yPosRightGroundline

    
  }

Definition at line 33 of file SlamLineCrossingsTable.cpp.

Referenced by getClosestPoint().

Vector2<double> SlamLineCrossingsTable::allCrossings[NUMBER_OF_CLASSIFIED_CROSSINGS]
 

Definition at line 46 of file SlamLineCrossingsTable.h.

Vector2<double> SlamLineCrossingsTable::virtualCrossings[NUMBER_OF_VIRTUAL_CROSSINGS]
 

Definition at line 47 of file SlamLineCrossingsTable.h.

Vector2<double> SlamLineCrossingsTable::tCrossings[NUMBER_OF_T_CROSSINGS]
 

Definition at line 48 of file SlamLineCrossingsTable.h.

Vector2<double> SlamLineCrossingsTable::lCrossings[NUMBER_OF_L_CROSSINGS]
 

Definition at line 49 of file SlamLineCrossingsTable.h.

Vector2<double> SlamLineCrossingsTable::falseCrossings[NUMBER_OF_FALSE_CROSSINGS]
 

Definition at line 50 of file SlamLineCrossingsTable.h.

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