MipAlgorithms::ProbMultiRegCam Class Reference

#include <ProbMultiRegCam.h>

List of all members.

Public Member Functions
	ProbMultiRegCam (ProbMultiRegCamPar par)
	Default constructor.
	~ProbMultiRegCam ()
	Default destructor.
void	initExample (vector< AngleId > &input)
	Inizialization of the structure (an example).
void	print (vector< AngleId > input, int option)
	Print a vector of vector. Option 1 to convert to degree; 0 for rad.
void	print (vector< vector< Decimal > > input)
	Print a vector of vector of Decimal.
void	initTriangles (vector< AngleId > &input, ProbMultiRegCamSol *mrcsols, int myId, Pose &myPose)
	Find triangles in a robots' formation.
vector< vector< Angle > >	createAng (vector< vector< Angle > > input)
vector< vector< Decimal > >	findFormTot (vector< vector< Angle > > input)
void	evalTria (vector< AngleId > input, int firstV, int firstF, int firstS, int secondV, int secondF, int secondS, int thirdV, int thirdF, int thirdS, Decimal aSide, Decimal bSide, Decimal cSide, Triangle *triaPointer)
	Evaluate a given triangle.
int	step (int argc, char **argv)
	Example of using this class.
void	eraseDup (Triangle *&triaPointer, Decimal thr)
	Deletes points in the interTwo vector that are in interThree one.
void	eraseDup3 (Triangle *&triaPointer, Decimal thr)
	Deletes points in the intersection by three vector that are already in this structure.
bool	eraseDupTria (vector< Triangle * > &trias, Triangle *&tria)
void	createPol (vector< Triangle * > triaSols, int myId, ProbMultiRegCamSol *mrcsols, Pose &myPose)
	Search if there is a robot with measurements compatible with the given measure.
void	quickSortTria (vector< Triangle * > &triaSols, Triangle *&tria, int myId)
	Insert in order a triangle* in the list.
void	selectSubSol (vector< Triangle * > &triaSols, Triangle *&tria, int myId)
	Insert in order a triangle* in the list.
void	printDataIn (AngleId *first, int f1, int f2, AngleId *second, int s1, int s2, AngleId *third, int t1, int t2, int info1, int info2, int info3, int id1, int id2, int id3)
	Print info about data input.
void	setLikelihood (vector< int > &ids, map< int, vector< Pose > > *lik)
	Sets the particles for the given id.
Public Attributes
ProbMultiRegCamPar	_par
fstream	_logProbMultiRegCamFile
fstream	_logProbMultiRegCamOutput

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Constructor & Destructor Documentation

MipAlgorithms::ProbMultiRegCam::ProbMultiRegCam

(

ProbMultiRegCamPar

par

)

Default constructor.

MipAlgorithms::ProbMultiRegCam::~ProbMultiRegCam

(

)

Default destructor.

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Member Function Documentation

void MipAlgorithms::ProbMultiRegCam::initExample

(

vector< AngleId > &

input

)

Inizialization of the structure (an example).

void MipAlgorithms::ProbMultiRegCam::print	(	vector< AngleId >	input,
		int	option
	)

Print a vector of vector. Option 1 to convert to degree; 0 for rad.

void MipAlgorithms::ProbMultiRegCam::print

(

vector< vector< Decimal > >

input

)

Print a vector of vector of Decimal.

void MipAlgorithms::ProbMultiRegCam::initTriangles	(	vector< AngleId > &	input,
		ProbMultiRegCamSol *	mrcsols,
		int	myId,
		Pose &	myPose
	)

Find triangles in a robots' formation.

vector< vector< Angle > > MipAlgorithms::ProbMultiRegCam::createAng

(

vector< vector< Angle > >

input

)

vector< vector< Decimal > > MipAlgorithms::ProbMultiRegCam::findFormTot

(

vector< vector< Angle > >

input

)

void MipAlgorithms::ProbMultiRegCam::evalTria	(	vector< AngleId >	input,
		int	firstV,
		int	firstF,
		int	firstS,
		int	secondV,
		int	secondF,
		int	secondS,
		int	thirdV,
		int	thirdF,
		int	thirdS,
		Decimal	aSide,
		Decimal	bSide,
		Decimal	cSide,
		Triangle *	triaPointer
	)

Evaluate a given triangle.

int MipAlgorithms::ProbMultiRegCam::step	(	int	argc,
		char **	argv
	)

Example of using this class.

void MipAlgorithms::ProbMultiRegCam::eraseDup	(	Triangle *&	triaPointer,
		Decimal	thr
	)

Deletes points in the interTwo vector that are in interThree one.

void MipAlgorithms::ProbMultiRegCam::eraseDup3	(	Triangle *&	triaPointer,
		Decimal	thr
	)

Deletes points in the intersection by three vector that are already in this structure.

bool MipAlgorithms::ProbMultiRegCam::eraseDupTria	(	vector< Triangle * > &	trias,
		Triangle *&	tria
	)

void MipAlgorithms::ProbMultiRegCam::createPol	(	vector< Triangle * >	triaSols,
		int	myId,
		ProbMultiRegCamSol *	mrcsols,
		Pose &	myPose
	)

Search if there is a robot with measurements compatible with the given measure.

void MipAlgorithms::ProbMultiRegCam::quickSortTria	(	vector< Triangle * > &	triaSols,
		Triangle *&	tria,
		int	myId
	)

Insert in order a triangle* in the list.

void MipAlgorithms::ProbMultiRegCam::selectSubSol	(	vector< Triangle * > &	triaSols,
		Triangle *&	tria,
		int	myId
	)

Insert in order a triangle* in the list.

void MipAlgorithms::ProbMultiRegCam::printDataIn	(	AngleId *	first,
		int	f1,
		int	f2,
		AngleId *	second,
		int	s1,
		int	s2,
		AngleId *	third,
		int	t1,
		int	t2,
		int	info1,
		int	info2,
		int	info3,
		int	id1,
		int	id2,
		int	id3
	)

Print info about data input.

void MipAlgorithms::ProbMultiRegCam::setLikelihood	(	vector< int > &	ids,
		map< int, vector< Pose > > *	lik
	)

Sets the particles for the given id.

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Member Data Documentation

ProbMultiRegCamPar MipAlgorithms::ProbMultiRegCam::_par

fstream MipAlgorithms::ProbMultiRegCam::_logProbMultiRegCamFile

fstream MipAlgorithms::ProbMultiRegCam::_logProbMultiRegCamOutput

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

• algorithms/MultiReg/ProbMultiRegCam.h
• algorithms/MultiReg/ProbMultiRegCam.cpp