kybalg::probPolFusionDist Class Reference

#include <ProbMultiRegStereoCam3DStr.h>

Inheritance diagram for kybalg::probPolFusionDist:

List of all members.

Public Member Functions

probPolFusionDist ()

Default constructor.

probPolFusionDist (triangleAssObs *tria, int expMth)

Constructor with only one triangle.

~probPolFusionDist ()

Default destructor.

triangleAssObs * getTriangle (int pos)

Return a tringle in position pos.

void setTriangle (int pos, triangleAssObs *tria)

Set a triangle in position pos.

void deleteTriangle (int pos)

Delete a triangle in the list.

void deleteLastTriangle ()

Delete the last triangle in the list.

void deleteScaleFTriangles (int pos)

Delete a distance factor.

void deleteLastScaleFTriangles ()

Delete the last triangle in the list.

void setScaleFTriangles (int pos, Decimal &scale)

Add a new item in the scale vector.

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

Delete all the triangles that conflict with that stored in position pos.

void deleteBifConflictsOpt (int pos, int idNew)

Delete all the triangles that conflict with that stored in position pos.

int getSize ()

Return the actual number of the triangle stored in this polymorph.

int getQueueSize ()

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

void getIds (vector< int > &ids)

Return the list of ids actually in the polimorph.

void insertVertex (PosId3D vertex)

Insert a new vertex of the polymorph.

PosId3D getVertex (int pos)

Get the vertex of the polymorph at position pos.

void setVertex (int pos, PosId3D vertex)

Set the vertex of the polymorph at position pos.

void setQueue (triangleAssObs *queue)

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

int queueSize ()

Return the number of triangles in queue.

void deleteQueueTriangle (int pos)

Delete 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.

MIPMatrix getRotoTrasl (int pos)

Get 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)

Delete an item in the list of orientation.

void deleteLastOri ()

Delete the last orientation in the list.

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

Insert a new triangle in the polimorph.

PosId3D * searchVertex (int id)

Search a vertex in the list.

PosId3D * searchVertex (int id, int &posAt)

Search a vertex in the list and return its index.

void deleteVertex (int pos)

Delete a vertex in the list.

void deleteLastVertex ()

Delete the last vertex in the list.

int searchBif (PosId3D vertex, int &posAt, Decimal thr)

Method to check if there is a bifurcation.

void insertPoints (triangleAssObs *tria, int &numInt4)

Insert intersection by three points.

void insertPointsNoIn (triangleAssObs *tria, int &numInt4, MIPMatrix *&matrixPointer, Decimal actualScale, vector< Position3D > &intToInsert, int &incrRatInThree)

Insert intersection by three points for the expandPolNoIn.

int getNInThree (int pos)

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

Position3D getIntThree (int pos)

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

Position3D getLastIntThree ()

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

void deleteIntThree (int pos)

Delete an item in the intersection by three list.

void deleteLastIntThree ()

Delete the last item in the intersection by three list.

void insertPointIntThree (Position3D ip, int pos)

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

bool expandPolNoIn (int myId, vector< probPolFusionDist * > actualSol, vector< probPolFusionDist * > &bifprobPolFusionDist, Decimal linThr, map< int, vector< Pose3D > > *likelihood, vector< int > activeLikelihoods, int &maxBifSize)

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

bool checkBif (PosId3D vertex, Decimal thr, int myId)

Verify if there is a bifurcation.

string print (int opt=0)

Print all the solutions.

probPolFusionDist & operator= (probPolFusionDist &A)

Operator assignment =.

Decimal computeProbability (Pose3D measure, int id, map< int, vector< Pose3D > > *&likelihood)

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

Decimal computeProbabilityScale (Position3D &measure, Decimal measureYaw, int id, map< int, vector< Pose3D > > *&likelihood)

Compute the probability that a given measures is near to the gaussian particles distribution, given the scale factor for the actual polimorph.

void setRatingVertex (int rating)

Set the ratingVertex of the polimorph.

int getRatingVertex ()

Get the actual ratingVertex of the polimorph.

void growRatingVertex ()

Grow the ratingVertex of one.

void decreaseRatingVertex ()

Decrease the ratingVertex of one.

void setRatingInThree (int rating)

Set the ratingInThree of the polimorph.

int getRatingInThree ()

Get the actual ratingInThree of the polimorph.

void growRatingInThree ()

Grow the ratingInThree of one.

void decreaseRatingInThree ()

Decrease 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 ()

Delete the last number of intersection by four.

void selectScale (Decimal &bestScale, Decimal &bestProb, map< int, vector< Pose3D > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV)

Select a scale in an interval.

void computeProbFixedScale (Decimal &bestProb, map< int, vector< Pose3D > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV)

Compute the probability given the scale factor for the polimorph.

void setExpandMethod (int expMth)

Set the expansion method.

string getObjectName () const

Returns the object name.

Decimal getScaleFormation ()

Get the current scale factor of the polimorph.

void updateScaleFactForm (Decimal &d)

Update the scaleForm with a new scale factor as input.

void deleteScaleFactForm (Decimal &d)

Update the scaleForm with a new scale factor as input.

Constructor & Destructor Documentation

kybalg::probPolFusionDist::probPolFusionDist ( )

Default constructor.

kybalg::probPolFusionDist::probPolFusionDist	(	triangleAssObs *	tria,
		int	expMth
	)

Constructor with only one triangle.

kybalg::probPolFusionDist::~probPolFusionDist ( )

Default destructor.

Member Function Documentation

triangleAssObs * kybalg::probPolFusionDist::getTriangle ( int pos )

Return a tringle in position pos.

void kybalg::probPolFusionDist::setTriangle	(	int	pos,
		triangleAssObs *	tria
	)

Set a triangle in position pos.

void kybalg::probPolFusionDist::deleteTriangle ( int pos )

Delete a triangle in the list.

void kybalg::probPolFusionDist::deleteLastTriangle ( )

Delete the last triangle in the list.

void kybalg::probPolFusionDist::deleteScaleFTriangles ( int pos )

Delete a distance factor.

void kybalg::probPolFusionDist::deleteLastScaleFTriangles ( )

Delete the last triangle in the list.

void kybalg::probPolFusionDist::setScaleFTriangles	(	int	pos,
		Decimal &	scale
	)

Add a new item in the scale vector.

void kybalg::probPolFusionDist::deleteBifConflicts	(	int	pos,
		int	posAt,
		int	idNew
	)

Delete all the triangles that conflict with that stored in position pos.

void kybalg::probPolFusionDist::deleteBifConflictsOpt	(	int	pos,
		int	idNew
	)

Delete all the triangles that conflict with that stored in position pos.

int kybalg::probPolFusionDist::getSize ( )

Return the actual number of the triangle stored in this polymorph.

int kybalg::probPolFusionDist::getQueueSize ( )

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

void kybalg::probPolFusionDist::getIds ( vector< int > & ids )

Return the list of ids actually in the polimorph.

void kybalg::probPolFusionDist::insertVertex ( PosId3D vertex )

Insert a new vertex of the polymorph.

PosId3D kybalg::probPolFusionDist::getVertex ( int pos )

Get the vertex of the polymorph at position pos.

void kybalg::probPolFusionDist::setVertex	(	int	pos,
		PosId3D	vertex
	)

Set the vertex of the polymorph at position pos.

void kybalg::probPolFusionDist::setQueue ( triangleAssObs * queue )

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

int kybalg::probPolFusionDist::queueSize ( )

Return the number of triangles in queue.

void kybalg::probPolFusionDist::deleteQueueTriangle ( int pos )

Delete a item in the queue list.

void kybalg::probPolFusionDist::deleteQueueLastTriangle ( )

void kybalg::probPolFusionDist::setScale	(	int	i,
		Decimal	scale
	)

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

void kybalg::probPolFusionDist::setScale ( Decimal scale )

Add a new item in the scale vector.

Decimal kybalg::probPolFusionDist::getScale ( int i )

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

void kybalg::probPolFusionDist::deleteScaleF ( int pos )

Deletes an item of scale factor.

void kybalg::probPolFusionDist::deleteLastScaleF ( )

void kybalg::probPolFusionDist::setRotoTrasl	(	int	pos,
		MIPMatrix	rt
	)

Set a rototranslation.

MIPMatrix kybalg::probPolFusionDist::getRotoTrasl ( int pos )

Get a rototranslation.

void kybalg::probPolFusionDist::deleteRotoTrasl ( int pos )

Deletes an item in te rototranslation list.

void kybalg::probPolFusionDist::deleteLastRotoTrasl ( )

void kybalg::probPolFusionDist::insertOri ( Decimal ori )

Insert an orientation in the polimorph.

Decimal kybalg::probPolFusionDist::getOri ( int pos )

Get an orientation from the polimorph.

void kybalg::probPolFusionDist::setOri	(	int	pos,
		Angle	ori
	)

Set a ori in the list of orientation.

void kybalg::probPolFusionDist::deleteOri ( int pos )

Delete an item in the list of orientation.

void kybalg::probPolFusionDist::deleteLastOri ( )

Delete the last orientation in the list.

void kybalg::probPolFusionDist::insertTriangle	(	triangleAssObs *	tria,
		int	myId,
		int	id1,
		int	id2
	)

Insert a new triangle in the polimorph.

PosId3D * kybalg::probPolFusionDist::searchVertex ( int id )

Search a vertex in the list.

PosId3D * kybalg::probPolFusionDist::searchVertex	(	int	id,
		int &	posAt
	)

Search a vertex in the list and return its index.

void kybalg::probPolFusionDist::deleteVertex ( int pos )

Delete a vertex in the list.

void kybalg::probPolFusionDist::deleteLastVertex ( )

Delete the last vertex in the list.

int kybalg::probPolFusionDist::searchBif	(	PosId3D	vertex,
		int &	posAt,
		Decimal	thr
	)

Method to check if there is a bifurcation.

void kybalg::probPolFusionDist::insertPoints	(	triangleAssObs *	tria,
		int &	numInt4
	)

Insert intersection by three points.

void kybalg::probPolFusionDist::insertPointsNoIn	(	triangleAssObs *	tria,
		int &	numInt4,
		MIPMatrix *&	matrixPointer,
		Decimal	actualScale,
		vector< Position3D > &	intToInsert,
		int &	incrRatInThree
	)

Insert intersection by three points for the expandPolNoIn.

int kybalg::probPolFusionDist::getNInThree ( int pos )

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

Position3D kybalg::probPolFusionDist::getIntThree ( int pos )

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

Position3D kybalg::probPolFusionDist::getLastIntThree ( )

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

void kybalg::probPolFusionDist::deleteIntThree ( int pos )

Delete an item in the intersection by three list.

void kybalg::probPolFusionDist::deleteLastIntThree ( )

Delete the last item in the intersection by three list.

void kybalg::probPolFusionDist::insertPointIntThree	(	Position3D	ip,
		int	pos
	)

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

bool kybalg::probPolFusionDist::expandPolNoIn	(	int	myId,
		vector< probPolFusionDist * >	actualSol,
		vector< probPolFusionDist * > &	bifprobPolFusionDist,
		Decimal	linThr,
		map< int, vector< Pose3D > > *	likelihood,
		vector< int >	activeLikelihoods,
		int &	maxBifSize
	)

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

TODO CHECK IT!

bool kybalg::probPolFusionDist::checkBif	(	PosId3D	vertex,
		Decimal	thr,
		int	myId
	)

Verify if there is a bifurcation.

string kybalg::probPolFusionDist::print ( int opt = 0 )

Print all the solutions.

probPolFusionDist & kybalg::probPolFusionDist::operator= ( probPolFusionDist & A )

Operator assignment =.

Decimal kybalg::probPolFusionDist::computeProbability	(	Pose3D	measure,
		int	id,
		map< int, vector< Pose3D > > *&	likelihood
	)

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

Decimal kybalg::probPolFusionDist::computeProbabilityScale	(	Position3D &	measure,
		Decimal	measureYaw,
		int	id,
		map< int, vector< Pose3D > > *&	likelihood
	)

Compute the probability that a given measures is near to the gaussian particles distribution, given the scale factor for the actual polimorph.

void kybalg::probPolFusionDist::setRatingVertex ( int rating )

Set the ratingVertex of the polimorph.

int kybalg::probPolFusionDist::getRatingVertex ( )

Get the actual ratingVertex of the polimorph.

void kybalg::probPolFusionDist::growRatingVertex ( )

Grow the ratingVertex of one.

void kybalg::probPolFusionDist::decreaseRatingVertex ( )

Decrease the ratingVertex of one.

void kybalg::probPolFusionDist::setRatingInThree ( int rating )

Set the ratingInThree of the polimorph.

int kybalg::probPolFusionDist::getRatingInThree ( )

Get the actual ratingInThree of the polimorph.

void kybalg::probPolFusionDist::growRatingInThree ( )

Grow the ratingInThree of one.

void kybalg::probPolFusionDist::decreaseRatingInThree ( )

Decrease the ratingInThree of one.

void kybalg::probPolFusionDist::setIntFourNum	(	int	pos,
		int	val
	)

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

int kybalg::probPolFusionDist::getIntFourNum ( int pos )

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

int kybalg::probPolFusionDist::getLastIntFourNum ( )

Get the last number of intersection by four.

void kybalg::probPolFusionDist::deleteLastIntFourNum ( )

Delete the last number of intersection by four.

void kybalg::probPolFusionDist::selectScale	(	Decimal &	bestScale,
		Decimal &	bestProb,
		map< int, vector< Pose3D > > *&	likelihood,
		vector< int > &	activeLikelihoods,
		vector< int > &	idsV
	)

Select a scale in an interval.

void kybalg::probPolFusionDist::computeProbFixedScale	(	Decimal &	bestProb,
		map< int, vector< Pose3D > > *&	likelihood,
		vector< int > &	activeLikelihoods,
		vector< int > &	idsV
	)

Compute the probability given the scale factor for the polimorph.

void kybalg::probPolFusionDist::setExpandMethod ( int expMth )

Set the expansion method.

string kybalg::probPolFusionDist::getObjectName ( ) const [inline, virtual]

Returns the object name.

Implements MIPObject.

Decimal kybalg::probPolFusionDist::getScaleFormation ( )

Get the current scale factor of the polimorph.

void kybalg::probPolFusionDist::updateScaleFactForm ( Decimal & d )

Update the scaleForm with a new scale factor as input.

void kybalg::probPolFusionDist::deleteScaleFactForm ( Decimal & d )

Update the scaleForm with a new scale factor as input.

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

algorithms/MultiReg/ProbMultiRegStereoCam3DStr.h
algorithms/MultiReg/ProbMultiRegStereoCam3DStr.cpp


Public Member Functions
	probPolFusionDist ()
	Default constructor.
	probPolFusionDist (triangleAssObs *tria, int expMth)
	Constructor with only one triangle.
	~probPolFusionDist ()
	Default destructor.
triangleAssObs *	getTriangle (int pos)
	Return a tringle in position pos.
void	setTriangle (int pos, triangleAssObs *tria)
	Set a triangle in position pos.
void	deleteTriangle (int pos)
	Delete a triangle in the list.
void	deleteLastTriangle ()
	Delete the last triangle in the list.
void	deleteScaleFTriangles (int pos)
	Delete a distance factor.
void	deleteLastScaleFTriangles ()
	Delete the last triangle in the list.
void	setScaleFTriangles (int pos, Decimal &scale)
	Add a new item in the scale vector.
void	deleteBifConflicts (int pos, int posAt, int idNew)
	Delete all the triangles that conflict with that stored in position pos.
void	deleteBifConflictsOpt (int pos, int idNew)
	Delete all the triangles that conflict with that stored in position pos.
int	getSize ()
	Return the actual number of the triangle stored in this polymorph.
int	getQueueSize ()
	Return the actual number of the triangle stored in the queue of the polymorph.
void	getIds (vector< int > &ids)
	Return the list of ids actually in the polimorph.
void	insertVertex (PosId3D vertex)
	Insert a new vertex of the polymorph.
PosId3D	getVertex (int pos)
	Get the vertex of the polymorph at position pos.
void	setVertex (int pos, PosId3D vertex)
	Set the vertex of the polymorph at position pos.
void	setQueue (triangleAssObs *queue)
	Insert a triangle in the queue in order of the number of intersection by three.
int	queueSize ()
	Return the number of triangles in queue.
void	deleteQueueTriangle (int pos)
	Delete 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.
MIPMatrix	getRotoTrasl (int pos)
	Get 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)
	Delete an item in the list of orientation.
void	deleteLastOri ()
	Delete the last orientation in the list.
void	insertTriangle (triangleAssObs *tria, int myId, int id1, int id2)
	Insert a new triangle in the polimorph.
PosId3D *	searchVertex (int id)
	Search a vertex in the list.
PosId3D *	searchVertex (int id, int &posAt)
	Search a vertex in the list and return its index.
void	deleteVertex (int pos)
	Delete a vertex in the list.
void	deleteLastVertex ()
	Delete the last vertex in the list.
int	searchBif (PosId3D vertex, int &posAt, Decimal thr)
	Method to check if there is a bifurcation.
void	insertPoints (triangleAssObs *tria, int &numInt4)
	Insert intersection by three points.
void	insertPointsNoIn (triangleAssObs tria, int &numInt4, MIPMatrix &matrixPointer, Decimal actualScale, vector< Position3D > &intToInsert, int &incrRatInThree)
	Insert intersection by three points for the expandPolNoIn.
int	getNInThree (int pos)
	Return the number of intersection by three until the pos-th triangle in list.
Position3D	getIntThree (int pos)
	Return the pos-th item of the list of intersection by three.
Position3D	getLastIntThree ()
	Return the last item in the list of intersection by three.
void	deleteIntThree (int pos)
	Delete an item in the intersection by three list.
void	deleteLastIntThree ()
	Delete the last item in the intersection by three list.
void	insertPointIntThree (Position3D ip, int pos)
	Insert a point in the list of intersection by three points.
bool	expandPolNoIn (int myId, vector< probPolFusionDist * > actualSol, vector< probPolFusionDist * > &bifprobPolFusionDist, Decimal linThr, map< int, vector< Pose3D > > *likelihood, vector< int > activeLikelihoods, int &maxBifSize)
	New version of the expandPolOpt method in which ther is no insertion of the new vertex.
bool	checkBif (PosId3D vertex, Decimal thr, int myId)
	Verify if there is a bifurcation.
string	print (int opt=0)
	Print all the solutions.
probPolFusionDist &	operator= (probPolFusionDist &A)
	Operator assignment =.
Decimal	computeProbability (Pose3D measure, int id, map< int, vector< Pose3D > > *&likelihood)
	Compute the probability that a given measures is near to the gaussian particles distribution.
Decimal	computeProbabilityScale (Position3D &measure, Decimal measureYaw, int id, map< int, vector< Pose3D > > *&likelihood)
	Compute the probability that a given measures is near to the gaussian particles distribution, given the scale factor for the actual polimorph.
void	setRatingVertex (int rating)
	Set the ratingVertex of the polimorph.
int	getRatingVertex ()
	Get the actual ratingVertex of the polimorph.
void	growRatingVertex ()
	Grow the ratingVertex of one.
void	decreaseRatingVertex ()
	Decrease the ratingVertex of one.
void	setRatingInThree (int rating)
	Set the ratingInThree of the polimorph.
int	getRatingInThree ()
	Get the actual ratingInThree of the polimorph.
void	growRatingInThree ()
	Grow the ratingInThree of one.
void	decreaseRatingInThree ()
	Decrease 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 ()
	Delete the last number of intersection by four.
void	selectScale (Decimal &bestScale, Decimal &bestProb, map< int, vector< Pose3D > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV)
	Select a scale in an interval.
void	computeProbFixedScale (Decimal &bestProb, map< int, vector< Pose3D > > *&likelihood, vector< int > &activeLikelihoods, vector< int > &idsV)
	Compute the probability given the scale factor for the polimorph.
void	setExpandMethod (int expMth)
	Set the expansion method.
string	getObjectName () const
	Returns the object name.
Decimal	getScaleFormation ()
	Get the current scale factor of the polimorph.
void	updateScaleFactForm (Decimal &d)
	Update the scaleForm with a new scale factor as input.
void	deleteScaleFactForm (Decimal &d)
	Update the scaleForm with a new scale factor as input.