#include <ProbMultiRegCam3D.h>
Public Member Functions | |
ProbMultiRegCam3DCam (ProbMultiRegCam3DQuadPar par) | |
Default constructor. | |
~ProbMultiRegCam3DCam () | |
Default destructor. | |
void | initExample (vector< AngleBearId > &input) |
Inizialization of the structure (an example). | |
void | print (vector< AngleBearId > 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< AngleBearId > &input, ProbMultiRegCam3DQuadSol *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< AngleBearId > &input, int firstV, int firstF, int firstS, int secondV, int secondF, int secondS, int thirdV, int thirdF, int thirdS, 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. | |
void | eraseDup2 (Triangle *&triaPointer, Decimal thr) |
Deletes points in the intersection by two vector that are already in this structure. | |
bool | eraseDupTria (vector< Triangle * > &trias, Triangle *&tria) |
Deletes triangle that are equal with the same vertexes. | |
void | createPol (vector< Triangle * > triaSols, int myId, ProbMultiRegCam3DQuadSol *mrcsols) |
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 (AngleBearId *first, int f1, int f2, AngleBearId *second, int s1, int s2, AngleBearId *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 | _logProbMultiRegCam3DCamFile |
fstream | _logProbMultiRegCam3DCamOutput |
kybalg::ProbMultiRegCam3DCam::ProbMultiRegCam3DCam | ( | ProbMultiRegCam3DQuadPar | par | ) |
Default constructor.
kybalg::ProbMultiRegCam3DCam::~ProbMultiRegCam3DCam | ( | ) |
Default destructor.
void kybalg::ProbMultiRegCam3DCam::initExample | ( | vector< AngleBearId > & | input | ) |
Inizialization of the structure (an example).
void kybalg::ProbMultiRegCam3DCam::print | ( | vector< AngleBearId > | input, | |
int | option | |||
) |
Print a vector of vector. Option 1 to convert to degree; 0 for rad.
void kybalg::ProbMultiRegCam3DCam::print | ( | vector< vector< Decimal > > | input | ) |
Print a vector of vector of Decimal.
void kybalg::ProbMultiRegCam3DCam::initTriangles | ( | vector< AngleBearId > & | input, | |
ProbMultiRegCam3DQuadSol * | mrcsols, | |||
int | myId | |||
) |
Find triangles in a robots' formation.
vector< vector< Angle > > kybalg::ProbMultiRegCam3DCam::createAng | ( | vector< vector< Angle > > | input | ) |
Find the direction seen by a robot.
void kybalg::ProbMultiRegCam3DCam::evalTria | ( | vector< AngleBearId > & | input, | |
int | firstV, | |||
int | firstF, | |||
int | firstS, | |||
int | secondV, | |||
int | secondF, | |||
int | secondS, | |||
int | thirdV, | |||
int | thirdF, | |||
int | thirdS, | |||
Triangle * | triaPointer | |||
) |
Evaluate a given triangle.
int kybalg::ProbMultiRegCam3DCam::step | ( | int | argc, | |
char ** | argv | |||
) |
Example of using this class.
Deletes points in the interTwo vector that are in interThree one.
Deletes points in the intersection by three vector that are already in this structure.
Deletes points in the intersection by two vector that are already in this structure.
Deletes triangle that are equal with the same vertexes.
void kybalg::ProbMultiRegCam3DCam::createPol | ( | vector< Triangle * > | triaSols, | |
int | myId, | |||
ProbMultiRegCam3DQuadSol * | mrcsols | |||
) |
Search if there is a robot with measurements compatible with the given measure.
void kybalg::ProbMultiRegCam3DCam::quickSortTria | ( | vector< Triangle * > & | triaSols, | |
Triangle *& | tria, | |||
int | myId | |||
) |
Insert in order a triangle* in the list.
void kybalg::ProbMultiRegCam3DCam::selectSubSol | ( | vector< Triangle * > & | triaSols, | |
Triangle *& | tria, | |||
int | myId | |||
) |
Insert in order a triangle* in the list.
void kybalg::ProbMultiRegCam3DCam::printDataIn | ( | AngleBearId * | first, | |
int | f1, | |||
int | f2, | |||
AngleBearId * | second, | |||
int | s1, | |||
int | s2, | |||
AngleBearId * | third, | |||
int | t1, | |||
int | t2, | |||
int | info1, | |||
int | info2, | |||
int | info3, | |||
int | id1, | |||
int | id2, | |||
int | id3 | |||
) |
Print info about data input.
void kybalg::ProbMultiRegCam3DCam::setLikelihood | ( | vector< int > & | ids, | |
map< int, vector< Pose3D > > * | lik | |||
) |
Sets the particles for the given id.
string kybalg::ProbMultiRegCam3DCam::getObjectName | ( | ) | const [inline, virtual] |
Parameters of the multiple registration algorithm in 3D.