kybalg::probMultiRegStereoCam3DCam Class Reference

Multiple registration algorithm in 3D. More...

#include <ProbMultiRegStereoCam3D.h>

Inheritance diagram for kybalg::probMultiRegStereoCam3DCam:

List of all members.

Public Member Functions
	probMultiRegStereoCam3DCam (ProbMultiRegCam3DQuadPar par)
	Default constructor.
	~probMultiRegStereoCam3DCam ()
	Default destructor.
void	initExample (vector< bearDistId > &input)
	Inizialization of the structure (an example).
void	print (vector< bearDistId > 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< bearDistId > &input, probMultiRegStereoCam3DQuadSol *mrcsols, int myId)
	Find triangles in a robots' formation.
vector< vector< Angle > >	createAng (vector< vector< Angle > > input)
	Find the direction seen by a robot.
void	evalTria (vector< bearDistId > &input, int firstV, int firstF, int firstS, int secondV, int secondF, int secondS, int thirdV, int thirdF, int thirdS, triangleAssObs *triaPointer)
	Evaluate a given triangle.
int	step (int argc, char **argv)
	Example of using this class.
void	eraseDup (triangleAssObs *triaPointer, Decimal thr)
	Deletes points in the interTwo vector that are in interThree one.
void	eraseDup3 (triangleAssObs *triaPointer, Decimal thr)
	Deletes points in the intersection by three vector that are already in this structure.
void	eraseDup2 (triangleAssObs *triaPointer, Decimal thr)
	Deletes points in the intersection by two vector that are already in this structure.
bool	eraseDupTria (vector< triangleAssObs * > &trias, triangleAssObs *&tria)
	Deletes triangle that are equal with the same vertexes.
void	createPol (vector< triangleAssObs * > triaSols, int myId, probMultiRegStereoCam3DQuadSol *mrcsols)
	Search if there is a robot with measurements compatible with the given measure.
void	quickSortTria (vector< triangleAssObs * > &triaSols, triangleAssObs *&tria, int myId)
	Insert in order a triangle* in the list.
void	selectSubSol (vector< triangleAssObs * > &triaSols, triangleAssObs *&tria, int myId)
	Insert in order a triangle* in the list.
void	printDataIn (bearDistId *first, int f1, int f2, bearDistId *second, int s1, int s2, bearDistId *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< Pose3D > > *lik)
	Sets the particles for the given id.
string	getObjectName () const
	Returns the name of the object.
Public Attributes
ProbMultiRegCam3DQuadPar	_par
	Parameters of the multiple registration algorithm in 3D.
fstream	_logprobMultiRegStereoCam3DCamFile
fstream	_logprobMultiRegStereoCam3DCamOutput

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Detailed Description

Multiple registration algorithm in 3D.

Author:

Marco Cognetti

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Constructor & Destructor Documentation

kybalg::probMultiRegStereoCam3DCam::probMultiRegStereoCam3DCam

(

ProbMultiRegCam3DQuadPar

par

)

Default constructor.

kybalg::probMultiRegStereoCam3DCam::~probMultiRegStereoCam3DCam

(

)

Default destructor.

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Member Function Documentation

void kybalg::probMultiRegStereoCam3DCam::initExample

(

vector< bearDistId > &

input

)

Inizialization of the structure (an example).

void kybalg::probMultiRegStereoCam3DCam::print	(	vector< bearDistId >	input,
		int	option
	)

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

void kybalg::probMultiRegStereoCam3DCam::print

(

vector< vector< Decimal > >

input

)

Print a vector of vector of Decimal.

void kybalg::probMultiRegStereoCam3DCam::initTriangles	(	vector< bearDistId > &	input,
		probMultiRegStereoCam3DQuadSol *	mrcsols,
		int	myId
	)

Find triangles in a robots' formation.

vector< vector< Angle > > kybalg::probMultiRegStereoCam3DCam::createAng

(

vector< vector< Angle > >

input

)

Find the direction seen by a robot.

void kybalg::probMultiRegStereoCam3DCam::evalTria	(	vector< bearDistId > &	input,
		int	firstV,
		int	firstF,
		int	firstS,
		int	secondV,
		int	secondF,
		int	secondS,
		int	thirdV,
		int	thirdF,
		int	thirdS,
		triangleAssObs *	triaPointer
	)

Evaluate a given triangle.

int kybalg::probMultiRegStereoCam3DCam::step	(	int	argc,
		char **	argv
	)

Example of using this class.

void kybalg::probMultiRegStereoCam3DCam::eraseDup	(	triangleAssObs *	triaPointer,
		Decimal	thr
	)

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

void kybalg::probMultiRegStereoCam3DCam::eraseDup3	(	triangleAssObs *	triaPointer,
		Decimal	thr
	)

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

void kybalg::probMultiRegStereoCam3DCam::eraseDup2	(	triangleAssObs *	triaPointer,
		Decimal	thr
	)

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

bool kybalg::probMultiRegStereoCam3DCam::eraseDupTria	(	vector< triangleAssObs * > &	trias,
		triangleAssObs *&	tria
	)

Deletes triangle that are equal with the same vertexes.

void kybalg::probMultiRegStereoCam3DCam::createPol	(	vector< triangleAssObs * >	triaSols,
		int	myId,
		probMultiRegStereoCam3DQuadSol *	mrcsols
	)

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

void kybalg::probMultiRegStereoCam3DCam::quickSortTria	(	vector< triangleAssObs * > &	triaSols,
		triangleAssObs *&	tria,
		int	myId
	)

Insert in order a triangle* in the list.

void kybalg::probMultiRegStereoCam3DCam::selectSubSol	(	vector< triangleAssObs * > &	triaSols,
		triangleAssObs *&	tria,
		int	myId
	)

Insert in order a triangle* in the list.

void kybalg::probMultiRegStereoCam3DCam::printDataIn	(	bearDistId *	first,
		int	f1,
		int	f2,
		bearDistId *	second,
		int	s1,
		int	s2,
		bearDistId *	third,
		int	t1,
		int	t2,
		int	info1,
		int	info2,
		int	info3,
		int	id1,
		int	id2,
		int	id3
	)

Print info about data input.

void kybalg::probMultiRegStereoCam3DCam::setLikelihood	(	vector< int > &	ids,
		map< int, vector< Pose3D > > *	lik
	)

Sets the particles for the given id.

string kybalg::probMultiRegStereoCam3DCam::getObjectName

(

)

const [inline, virtual]

Returns the name of the object.

Implements MIPObject.

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Member Data Documentation

ProbMultiRegCam3DQuadPar kybalg::probMultiRegStereoCam3DCam::_par

Parameters of the multiple registration algorithm in 3D.

fstream kybalg::probMultiRegStereoCam3DCam::_logprobMultiRegStereoCam3DCamFile

fstream kybalg::probMultiRegStereoCam3DCam::_logprobMultiRegStereoCam3DCamOutput

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

• algorithms/MultiReg/ProbMultiRegStereoCam3D.h
• algorithms/MultiReg/ProbMultiRegStereoCam3D.cpp