MipAlgorithms::ProbPolFusion Class Reference

#include <ProbMultiRegCamStr.h>

List of all members.

Public Member Functions

ProbPolFusion ()

Default constructor.

ProbPolFusion (Triangle *tria, int expMth)

Constructor with only one triangle.

~ProbPolFusion ()

Default destructor.

Triangle * getTriangle (int pos)

Returns a tringle in position pos.

void setTriangle (int pos, Triangle *tria)

Set a triangle in position pos.

void deleteTriangle (int pos)

Deletes a triangle in the list.

void deleteLastTriangle ()

void deleteBifConflicts (int pos, int posAt, int idNew)

Deletes all the triangles that conflicts with that stored in position pos.

void deleteBifConflictsOpt (int pos, int idNew)

int getSize ()

Set new values in the matrix.

int getQueueSize ()

Returns the actual number of the triangle stored in the queue of the polymorph.

void getIds (vector< int > &ids)

Returns the list of ids actually in the polimorph.

void insertVertex (PosId vertex)

Insert a new vertex of the polymorph.

PosId getVertex (int pos)

Get the vertex of the polymorph at position pos.

void setVertex (int pos, PosId vertex)

void setQueue (Triangle *queue)

Insert a triangle in the queue in order of the number of intersection by three.

int queueSize ()

Returns the number of triangles in queue.

void deleteQueueTriangle (int pos)

Deletes a item in the queue list.

void deleteQueueLastTriangle ()

void setScale (int i, Decimal scale)

Set the scale factor of the (i+1)-th triangle in list.

void setScale (Decimal scale)

Add a new item in the scale vector.

Decimal getScale (int i)

Get the (i+1)-th scale factor.

void deleteScaleF (int pos)

Deletes an item of scale factor.

void deleteLastScaleF ()

void setRotoTrasl (int pos, MIPMatrix rt)

Set a rototranslation.

void deleteRotoTrasl (int pos)

Deletes an item in te rototranslation list.

void deleteLastRotoTrasl ()

void insertOri (Decimal ori)

Insert an orientation in the polimorph.

Decimal getOri (int pos)

Get an orientation from the polimorph.

void setOri (int pos, Angle ori)

Set a ori in the list of orientation.

void deleteOri (int pos)

Deletes an item in the list of orientation.

void deleteLastOri ()

void insertTriangle (Triangle *tria, int myId, int id1, int id2)

Insert a new triangle in the polimorph.

PosId * searchVertex (int id)

search a vertex in the list

PosId * searchVertex (int id, int &posAt)

void deleteVertex (int pos)

Delete a vertex in the list.

void deleteLastVertex ()

int searchBif (PosId vertex, int &posAt, Decimal thr)

Method to check if there is a bifurcation.

void insertPoints (Triangle *tria, int &numInt4)

Insert intersection by three points.

void insertPointsNoIn (Triangle *tria, int &numInt4, MIPMatrix *&matrixPointer, Decimal actualScale, vector< Position > &intToInsert, int &incrRatInThree)

Insert intersection by three points for the expandPolNoIn.

int getNInThree (int pos)

Returns the number of intersection by three until the pos-th triangle in list.

Position getIntThree (int pos)

Returns the pos-th item of the list of intersection by three.

Position getLastIntThree ()

Returns the last item in the list of intersection by three.

void deleteIntThree (int pos)

Deletes an item in the intersection by three list.

void deleteLastIntThree ()

void insertPointIntThree (Position ip, int pos)

Insert a point in the list of intersection by three points.

bool expandPol (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose)

bool expandPolOpt (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose, int &maxBifSize)

New version of expandPol, based on vertices.

bool expandPolNoIn (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose, int &maxBifSize)

New version of the expandPolOpt method in which ther is no insertion of the new vertex.

bool checkBif (PosId vertex, Decimal thr, int myId)

Verify if there is a bifurcation.

string print (int opt=0)

Print all the solutions.

ProbPolFusion & operator= (ProbPolFusion &A)

Operator assignment =.

Decimal computeProbability (Pose measure, int id, map< int, vector< Pose > > *&likelihood)

Computes the probability that a given measures is near to the gaussian particles distribution.

void setRatingVertex (int rating)

Sets the ratingVertex of the polimorph.

int getRatingVertex ()

Gets the actual ratingVertex of the polimorph.

void growRatingVertex ()

Grows the ratingVertex of one.

void decreaseRatingVertex ()

Decreases the ratingVertex of one.

void setRatingInThree (int rating)

Sets the ratingInThree of the polimorph.

int getRatingInThree ()

Gets the actual ratingInThree of the polimorph.

void growRatingInThree ()

Grows the ratingInThree of one.

void decreaseRatingInThree ()

Decreases the ratingInThree of one.

void setIntFourNum (int pos, int val)

Set the number of intersection by four for a triangle in position pos-1.

int getIntFourNum (int pos)

Get the number of intersection by four in position pos-1.

int getLastIntFourNum ()

Get the last number of intersection by four.

void deleteLastIntFourNum ()

Deletes the last number of intersection by four.

void selectScale (Decimal &bestScale, Decimal &bestProb, map< int, vector< Pose > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV, Pose &myPose)

Select a scale in an interval.

void setExpandMethod (int expMth)

Sets the expansion method.

Constructor & Destructor Documentation

MipAlgorithms::ProbPolFusion::ProbPolFusion ( )

Default constructor.

MipAlgorithms::ProbPolFusion::ProbPolFusion	(	Triangle *	tria,
		int	expMth
	)

Constructor with only one triangle.

MipAlgorithms::ProbPolFusion::~ProbPolFusion ( )

Default destructor.

Member Function Documentation

Triangle * MipAlgorithms::ProbPolFusion::getTriangle ( int pos )

Returns a tringle in position pos.

void MipAlgorithms::ProbPolFusion::setTriangle	(	int	pos,
		Triangle *	tria
	)

Set a triangle in position pos.

void MipAlgorithms::ProbPolFusion::deleteTriangle ( int pos )

Deletes a triangle in the list.

void MipAlgorithms::ProbPolFusion::deleteLastTriangle ( )

void MipAlgorithms::ProbPolFusion::deleteBifConflicts	(	int	pos,
		int	posAt,
		int	idNew
	)

Deletes all the triangles that conflicts with that stored in position pos.

void MipAlgorithms::ProbPolFusion::deleteBifConflictsOpt	(	int	pos,
		int	idNew
	)

int MipAlgorithms::ProbPolFusion::getSize ( )

Set new values in the matrix.

Returns the actual number of the triangle stored in this polymorph

int MipAlgorithms::ProbPolFusion::getQueueSize ( )

Returns the actual number of the triangle stored in the queue of the polymorph.

void MipAlgorithms::ProbPolFusion::getIds ( vector< int > & ids )

Returns the list of ids actually in the polimorph.

void MipAlgorithms::ProbPolFusion::insertVertex ( PosId vertex )

Insert a new vertex of the polymorph.

PosId MipAlgorithms::ProbPolFusion::getVertex ( int pos )

Get the vertex of the polymorph at position pos.

void MipAlgorithms::ProbPolFusion::setVertex	(	int	pos,
		PosId	vertex
	)

void MipAlgorithms::ProbPolFusion::setQueue ( Triangle * queue )

Insert a triangle in the queue in order of the number of intersection by three.

int MipAlgorithms::ProbPolFusion::queueSize ( )

Returns the number of triangles in queue.

void MipAlgorithms::ProbPolFusion::deleteQueueTriangle ( int pos )

Deletes a item in the queue list.

void MipAlgorithms::ProbPolFusion::deleteQueueLastTriangle ( )

void MipAlgorithms::ProbPolFusion::setScale	(	int	i,
		Decimal	scale
	)

Set the scale factor of the (i+1)-th triangle in list.

void MipAlgorithms::ProbPolFusion::setScale ( Decimal scale )

Add a new item in the scale vector.

Decimal MipAlgorithms::ProbPolFusion::getScale ( int i )

Get the (i+1)-th scale factor.

void MipAlgorithms::ProbPolFusion::deleteScaleF ( int pos )

Deletes an item of scale factor.

void MipAlgorithms::ProbPolFusion::deleteLastScaleF ( )

void MipAlgorithms::ProbPolFusion::setRotoTrasl	(	int	pos,
		MIPMatrix	rt
	)

Set a rototranslation.

void MipAlgorithms::ProbPolFusion::deleteRotoTrasl ( int pos )

Deletes an item in te rototranslation list.

void MipAlgorithms::ProbPolFusion::deleteLastRotoTrasl ( )

void MipAlgorithms::ProbPolFusion::insertOri ( Decimal ori )

Insert an orientation in the polimorph.

Decimal MipAlgorithms::ProbPolFusion::getOri ( int pos )

Get an orientation from the polimorph.

void MipAlgorithms::ProbPolFusion::setOri	(	int	pos,
		Angle	ori
	)

Set a ori in the list of orientation.

void MipAlgorithms::ProbPolFusion::deleteOri ( int pos )

Deletes an item in the list of orientation.

void MipAlgorithms::ProbPolFusion::deleteLastOri ( )

void MipAlgorithms::ProbPolFusion::insertTriangle	(	Triangle *	tria,
		int	myId,
		int	id1,
		int	id2
	)

Insert a new triangle in the polimorph.

PosId * MipAlgorithms::ProbPolFusion::searchVertex ( int id )

search a vertex in the list

PosId * MipAlgorithms::ProbPolFusion::searchVertex	(	int	id,
		int &	posAt
	)

void MipAlgorithms::ProbPolFusion::deleteVertex ( int pos )

Delete a vertex in the list.

void MipAlgorithms::ProbPolFusion::deleteLastVertex ( )

int MipAlgorithms::ProbPolFusion::searchBif	(	PosId	vertex,
		int &	posAt,
		Decimal	thr
	)

Method to check if there is a bifurcation.

void MipAlgorithms::ProbPolFusion::insertPoints	(	Triangle *	tria,
		int &	numInt4
	)

Insert intersection by three points.

void MipAlgorithms::ProbPolFusion::insertPointsNoIn	(	Triangle *	tria,
		int &	numInt4,
		MIPMatrix *&	matrixPointer,
		Decimal	actualScale,
		vector< Position > &	intToInsert,
		int &	incrRatInThree
	)

Insert intersection by three points for the expandPolNoIn.

int MipAlgorithms::ProbPolFusion::getNInThree ( int pos )

Returns the number of intersection by three until the pos-th triangle in list.

Position MipAlgorithms::ProbPolFusion::getIntThree ( int pos )

Returns the pos-th item of the list of intersection by three.

Position MipAlgorithms::ProbPolFusion::getLastIntThree ( )

Returns the last item in the list of intersection by three.

void MipAlgorithms::ProbPolFusion::deleteIntThree ( int pos )

Deletes an item in the intersection by three list.

void MipAlgorithms::ProbPolFusion::deleteLastIntThree ( )

void MipAlgorithms::ProbPolFusion::insertPointIntThree	(	Position	ip,
		int	pos
	)

Insert a point in the list of intersection by three points.

bool MipAlgorithms::ProbPolFusion::expandPol	(	int	myId,
		vector< ProbPolFusion * >	actualSol,
		vector< ProbPolFusion * > &	bifProbPolFusion,
		Decimal	linThr,
		map< int, vector< Pose > > *	likelihood,
		vector< int >	activeLikelihoods,
		Pose &	myPose
	)

bool MipAlgorithms::ProbPolFusion::expandPolOpt	(	int	myId,
		vector< ProbPolFusion * >	actualSol,
		vector< ProbPolFusion * > &	bifProbPolFusion,
		Decimal	linThr,
		map< int, vector< Pose > > *	likelihood,
		vector< int >	activeLikelihoods,
		Pose &	myPose,
		int &	maxBifSize
	)

New version of expandPol, based on vertices.

bool MipAlgorithms::ProbPolFusion::expandPolNoIn	(	int	myId,
		vector< ProbPolFusion * >	actualSol,
		vector< ProbPolFusion * > &	bifProbPolFusion,
		Decimal	linThr,
		map< int, vector< Pose > > *	likelihood,
		vector< int >	activeLikelihoods,
		Pose &	myPose,
		int &	maxBifSize
	)

New version of the expandPolOpt method in which ther is no insertion of the new vertex.

bool MipAlgorithms::ProbPolFusion::checkBif	(	PosId	vertex,
		Decimal	thr,
		int	myId
	)

Verify if there is a bifurcation.

string MipAlgorithms::ProbPolFusion::print ( int opt = 0 )

Print all the solutions.

ProbPolFusion & MipAlgorithms::ProbPolFusion::operator= ( ProbPolFusion & A )

Operator assignment =.

Decimal MipAlgorithms::ProbPolFusion::computeProbability	(	Pose	measure,
		int	id,
		map< int, vector< Pose > > *&	likelihood
	)

Computes the probability that a given measures is near to the gaussian particles distribution.

void MipAlgorithms::ProbPolFusion::setRatingVertex ( int rating )

Sets the ratingVertex of the polimorph.

int MipAlgorithms::ProbPolFusion::getRatingVertex ( )

Gets the actual ratingVertex of the polimorph.

void MipAlgorithms::ProbPolFusion::growRatingVertex ( )

Grows the ratingVertex of one.

void MipAlgorithms::ProbPolFusion::decreaseRatingVertex ( )

Decreases the ratingVertex of one.

void MipAlgorithms::ProbPolFusion::setRatingInThree ( int rating )

Sets the ratingInThree of the polimorph.

int MipAlgorithms::ProbPolFusion::getRatingInThree ( )

Gets the actual ratingInThree of the polimorph.

void MipAlgorithms::ProbPolFusion::growRatingInThree ( )

Grows the ratingInThree of one.

void MipAlgorithms::ProbPolFusion::decreaseRatingInThree ( )

Decreases the ratingInThree of one.

void MipAlgorithms::ProbPolFusion::setIntFourNum	(	int	pos,
		int	val
	)

Set the number of intersection by four for a triangle in position pos-1.

int MipAlgorithms::ProbPolFusion::getIntFourNum ( int pos )

Get the number of intersection by four in position pos-1.

int MipAlgorithms::ProbPolFusion::getLastIntFourNum ( )

Get the last number of intersection by four.

void MipAlgorithms::ProbPolFusion::deleteLastIntFourNum ( )

Deletes the last number of intersection by four.

void MipAlgorithms::ProbPolFusion::selectScale	(	Decimal &	bestScale,
		Decimal &	bestProb,
		map< int, vector< Pose > > *&	likelihood,
		vector< int > &	activeLikelihoods,
		vector< int > &	idsV,
		Pose &	myPose
	)

Select a scale in an interval.

void MipAlgorithms::ProbPolFusion::setExpandMethod ( int expMth )

Sets the expansion method.

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

algorithms/MultiReg/ProbMultiRegCamStr.h
algorithms/MultiReg/ProbMultiRegCamStr.cpp


Public Member Functions
	ProbPolFusion ()
	Default constructor.
	ProbPolFusion (Triangle *tria, int expMth)
	Constructor with only one triangle.
	~ProbPolFusion ()
	Default destructor.
Triangle *	getTriangle (int pos)
	Returns a tringle in position pos.
void	setTriangle (int pos, Triangle *tria)
	Set a triangle in position pos.
void	deleteTriangle (int pos)
	Deletes a triangle in the list.
void	deleteLastTriangle ()
void	deleteBifConflicts (int pos, int posAt, int idNew)
	Deletes all the triangles that conflicts with that stored in position pos.
void	deleteBifConflictsOpt (int pos, int idNew)
int	getSize ()
	Set new values in the matrix.
int	getQueueSize ()
	Returns the actual number of the triangle stored in the queue of the polymorph.
void	getIds (vector< int > &ids)
	Returns the list of ids actually in the polimorph.
void	insertVertex (PosId vertex)
	Insert a new vertex of the polymorph.
PosId	getVertex (int pos)
	Get the vertex of the polymorph at position pos.
void	setVertex (int pos, PosId vertex)
void	setQueue (Triangle *queue)
	Insert a triangle in the queue in order of the number of intersection by three.
int	queueSize ()
	Returns the number of triangles in queue.
void	deleteQueueTriangle (int pos)
	Deletes a item in the queue list.
void	deleteQueueLastTriangle ()
void	setScale (int i, Decimal scale)
	Set the scale factor of the (i+1)-th triangle in list.
void	setScale (Decimal scale)
	Add a new item in the scale vector.
Decimal	getScale (int i)
	Get the (i+1)-th scale factor.
void	deleteScaleF (int pos)
	Deletes an item of scale factor.
void	deleteLastScaleF ()
void	setRotoTrasl (int pos, MIPMatrix rt)
	Set a rototranslation.
void	deleteRotoTrasl (int pos)
	Deletes an item in te rototranslation list.
void	deleteLastRotoTrasl ()
void	insertOri (Decimal ori)
	Insert an orientation in the polimorph.
Decimal	getOri (int pos)
	Get an orientation from the polimorph.
void	setOri (int pos, Angle ori)
	Set a ori in the list of orientation.
void	deleteOri (int pos)
	Deletes an item in the list of orientation.
void	deleteLastOri ()
void	insertTriangle (Triangle *tria, int myId, int id1, int id2)
	Insert a new triangle in the polimorph.
PosId *	searchVertex (int id)
	search a vertex in the list
PosId *	searchVertex (int id, int &posAt)
void	deleteVertex (int pos)
	Delete a vertex in the list.
void	deleteLastVertex ()
int	searchBif (PosId vertex, int &posAt, Decimal thr)
	Method to check if there is a bifurcation.
void	insertPoints (Triangle *tria, int &numInt4)
	Insert intersection by three points.
void	insertPointsNoIn (Triangle tria, int &numInt4, MIPMatrix &matrixPointer, Decimal actualScale, vector< Position > &intToInsert, int &incrRatInThree)
	Insert intersection by three points for the expandPolNoIn.
int	getNInThree (int pos)
	Returns the number of intersection by three until the pos-th triangle in list.
Position	getIntThree (int pos)
	Returns the pos-th item of the list of intersection by three.
Position	getLastIntThree ()
	Returns the last item in the list of intersection by three.
void	deleteIntThree (int pos)
	Deletes an item in the intersection by three list.
void	deleteLastIntThree ()
void	insertPointIntThree (Position ip, int pos)
	Insert a point in the list of intersection by three points.
bool	expandPol (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose)
bool	expandPolOpt (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose, int &maxBifSize)
	New version of expandPol, based on vertices.
bool	expandPolNoIn (int myId, vector< ProbPolFusion * > actualSol, vector< ProbPolFusion * > &bifProbPolFusion, Decimal linThr, map< int, vector< Pose > > *likelihood, vector< int > activeLikelihoods, Pose &myPose, int &maxBifSize)
	New version of the expandPolOpt method in which ther is no insertion of the new vertex.
bool	checkBif (PosId vertex, Decimal thr, int myId)
	Verify if there is a bifurcation.
string	print (int opt=0)
	Print all the solutions.
ProbPolFusion &	operator= (ProbPolFusion &A)
	Operator assignment =.
Decimal	computeProbability (Pose measure, int id, map< int, vector< Pose > > *&likelihood)
	Computes the probability that a given measures is near to the gaussian particles distribution.
void	setRatingVertex (int rating)
	Sets the ratingVertex of the polimorph.
int	getRatingVertex ()
	Gets the actual ratingVertex of the polimorph.
void	growRatingVertex ()
	Grows the ratingVertex of one.
void	decreaseRatingVertex ()
	Decreases the ratingVertex of one.
void	setRatingInThree (int rating)
	Sets the ratingInThree of the polimorph.
int	getRatingInThree ()
	Gets the actual ratingInThree of the polimorph.
void	growRatingInThree ()
	Grows the ratingInThree of one.
void	decreaseRatingInThree ()
	Decreases the ratingInThree of one.
void	setIntFourNum (int pos, int val)
	Set the number of intersection by four for a triangle in position pos-1.
int	getIntFourNum (int pos)
	Get the number of intersection by four in position pos-1.
int	getLastIntFourNum ()
	Get the last number of intersection by four.
void	deleteLastIntFourNum ()
	Deletes the last number of intersection by four.
void	selectScale (Decimal &bestScale, Decimal &bestProb, map< int, vector< Pose > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV, Pose &myPose)
	Select a scale in an interval.
void	setExpandMethod (int expMth)
	Sets the expansion method.