MipTasks::ParticleMutLocSharedMem Class Reference
[Particle filter for Mutual localization]

Shared memory for the mutual localization. More...

#include <ParticleMutLocTask.h>

Inheritance diagram for MipTasks::ParticleMutLocSharedMem:

List of all members.

Public Member Functions
void	initSharedMem ()
	Inits function for the ParticleMutLocSharedMem.
Time	getTime ()
	Gets the simulation time.
PosiFeatures	getMyProtrusions (MotionModuleTState &state)
	Gets the PosiFeatures of the robot.
PosiFeatures	getMyObservation (MotionModuleTState &state)
	Gets the PosiFeatures of the robot.
vector< Angle >	getMyCamObs (MotionModuleTState &state)
	Gets the PosiFeatures of the robot.
void	setFormation (PoseFeatures &form)
	Sets the formation of the robot.
void	setEstimates (PoseFeatures &est)
	Sets the estimates of other robots' fixed frames.
Pose	getTarget ()
	Gets the target of the robot.
void	setTarget (Pose &t)
	Sets the target of the robot.
bool	doMloc ()
	Gets de _doMloc bool.
bool	printFormation ()
	Gets de _printFormation bool.
bool	printFormationDetails ()
	Gets de _printFormationDetails bool.
vector< int >	getAvoidParticleMutLocIds ()
	Gets de ids of the robot that is not necessary to mutual localize.

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Detailed Description

Shared memory for the mutual localization.

Author:

Paolo Stegagno

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Member Function Documentation

void MipTasks::ParticleMutLocSharedMem::initSharedMem

(

)

Inits function for the ParticleMutLocSharedMem.

Time MipTasks::ParticleMutLocSharedMem::getTime

(

)

[virtual]

Gets the simulation time.

Reimplemented from MipResources::SharedMem.

PosiFeatures MipTasks::ParticleMutLocSharedMem::getMyProtrusions

(

MotionModuleTState &

state

)

Gets the PosiFeatures of the robot.

Parameters:

[out]

&state

Were the TState of the protrusions is set.

Returns:

A vector of protrusions.

PosiFeatures MipTasks::ParticleMutLocSharedMem::getMyObservation

(

MotionModuleTState &

state

)

Gets the PosiFeatures of the robot.

Parameters:

[out]

&state

Were the TState of the protrusions is set.

Returns:

A vector of protrusions.

vector< Angle > MipTasks::ParticleMutLocSharedMem::getMyCamObs

(

MotionModuleTState &

state

)

Gets the PosiFeatures of the robot.

Parameters:

[out]

&state

Were the TState of the protrusions is set.

Returns:

A vector of protrusions.

void MipTasks::ParticleMutLocSharedMem::setFormation

(

PoseFeatures &

form

)

Sets the formation of the robot.

Parameters:

[in]

&form

New formation.

void MipTasks::ParticleMutLocSharedMem::setEstimates

(

PoseFeatures &

est

)

Sets the estimates of other robots' fixed frames.

Parameters:

[in]

&est

New estimates.

Pose MipTasks::ParticleMutLocSharedMem::getTarget

(

)

Gets the target of the robot.

Returns:

The target.

void MipTasks::ParticleMutLocSharedMem::setTarget

(

Pose &

t

)

Sets the target of the robot.

Parameters:

[in]

&t

New target pose.

bool MipTasks::ParticleMutLocSharedMem::doMloc

(

)

Gets de _doMloc bool.

Returns:

true if the mutual localization has to be performed, false otherwise.

bool MipTasks::ParticleMutLocSharedMem::printFormation

(

)

Gets de _printFormation bool.

Returns:

true if requested to print the formation, false otherwise.

bool MipTasks::ParticleMutLocSharedMem::printFormationDetails

(

)

Gets de _printFormationDetails bool.

Returns:

true if requested to print all estimates, false otherwise.

vector< int > MipTasks::ParticleMutLocSharedMem::getAvoidParticleMutLocIds

(

)

Gets de ids of the robot that is not necessary to mutual localize.

Returns:

A vector containing the ids of the robot that is not necessary to mutual localize.

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

• tasks/ParticleMutLoc/ParticleMutLocTask.h
• tasks/ParticleMutLoc/ParticleMutLocTask.cpp