SlamSelfLocatorSample Class Reference

The class represents a sample. More...

#include <SlamSelfLocatorSample.h>

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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, flag,   yellowGoal, skyblueGoal, lineCrossing,   numberOfPerceptTypes }
Public Member Functions
	SlamSelfLocatorSample ()
	Constructor.
	SlamSelfLocatorSample (const Pose2D &pose)
	Constructor.
double	getProbability () const
void	updateProbability ()
void	updateProbability (const double *average)
void	setPerceptProbability (SlamSelfLocatorSample::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]
SlamSelfLocatorSample *	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 SlamSelfLocatorSample.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 SlamSelfLocatorSample.h.

enum SlamSelfLocatorSample::PerceptType

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

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Constructor & Destructor Documentation

SlamSelfLocatorSample::SlamSelfLocatorSample (   )

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

SlamSelfLocatorSample::SlamSelfLocatorSample (  const Pose2D &  pose  )

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

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Member Function Documentation

double SlamSelfLocatorSample::getProbability (   )  const [inline]

Definition at line 59 of file SlamSelfLocatorSample.h. Referenced by SlamSelfLocator::calcPoseFromSubCube(), and SlamSelfLocator::resample().

void SlamSelfLocatorSample::updateProbability (   )

Definition at line 40 of file SlamSelfLocatorSample.cpp.

void SlamSelfLocatorSample::updateProbability (  const double *  average  )

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

void SlamSelfLocatorSample::setPerceptProbability (  SlamSelfLocatorSample::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 SlamSelfLocatorSample.cpp. References paramProbDownLimit, and paramProbUpLimit. Referenced by SlamSelfLocator::updateByCenterCircle(), SlamSelfLocator::updateByCrossing(), SlamSelfLocator::updateByFlag(), SlamSelfLocator::updateByGoalPost(), and SlamSelfLocator::updateByPoint().

bool SlamSelfLocatorSample::isValid (   )  const [inline]

Definition at line 83 of file SlamSelfLocatorSample.h. Referenced by SlamSelfLocator::calcPose(), and SlamSelfLocator::calcPoseFromSubCube().

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Member Data Documentation

double SlamSelfLocatorSample::paramProbUpLimit [static]

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

double SlamSelfLocatorSample::paramProbDownLimit [static]

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

double SlamSelfLocatorSample::paramProbDelay [static]

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

Pose2D SlamSelfLocatorSample::camera

Temporary representing the pose of the camera. Definition at line 43 of file SlamSelfLocatorSample.h. Referenced by SlamSelfLocator::motionUpdate(), SlamSelfLocator::updateByFlag(), SlamSelfLocator::updateByGoalPost(), and SlamSelfLocator::updateByNotSeenGoal().

double SlamSelfLocatorSample::perceptProbabilities[numberOfPerceptTypes]

a probability for each percept-type recognized Definition at line 44 of file SlamSelfLocatorSample.h. Referenced by SlamSelfLocator::calcAveragePerceptTypeProbabilities().

long SlamSelfLocatorSample::perceptTimestamps[numberOfPerceptTypes]

Definition at line 45 of file SlamSelfLocatorSample.h.

SlamSelfLocatorSample* SlamSelfLocatorSample::next

The next sample in the cell cube. Definition at line 46 of file SlamSelfLocatorSample.h. Referenced by SlamSelfLocator::calcPose(), and SlamSelfLocator::calcPoseFromSubCube().

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

• Modules/SelfLocator/SlamSelfLocator/SlamSelfLocatorSample.h
• Modules/SelfLocator/SlamSelfLocator/SlamSelfLocatorSample.cpp

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