jafar::dseg::LineFitterKalman2 Class Reference

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Detailed Description

Definition at line 20 of file LineFitterKalman2.hpp.

List of all members.

Public Member Functions
	LineFitterKalman2 (double x_o, double y_o, double angle_o)
	Create a LineFitter.
	LineFitterKalman2 (const LineFitterKalman2 &_lf)
void	addPoint (double t, const jblas::vec2 &_point, double angle, double sigmaPx)
	This function is called when a new point is detected.
double	direction () const
double	angle () const
const jblas::vec2 &	vecNormal () const
jblas::vec2	pointAt (double t) const
double	errorAt (double t) const
jblas::sym_mat22	covAt (double t) const
void	dump () const
void	merge (const LineFitterKalman2 *)
	Merge two segments.
bool	compatible (const LineFitterKalman2 *_lf) const
const jblas::vec2 &	x () const
double	quality () const
jblas::sym_mat22	vecDirectionCov () const
jblas::sym_mat22	originCov () const
jblas::sym_mat22	originMergeCov () const
jblas::vec2	origin () const
bool	isCompatibleObservation (double _x, double _y) const
	Check if an observation is compatible with this parameters.
bool	isCompatibleDirectionObservation (double _u, double _v) const
	Check if a direction is compatible with this parameters.
double	distance (double _x, double _y) const
void	setUncertainty (double sigma_u, double sigma_x0, double sigma_v, double sigma_y0)
	Set the uncertainty level of this segment.
const jblas::vec4 &	state () const
Private Member Functions
void	update ()
Private Attributes
Private *const	d

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Constructor & Destructor Documentation

jafar::dseg::LineFitterKalman2::LineFitterKalman2	(	double	x_o,
		double	y_o,
		double	angle_o
	)

Create a LineFitter.

Parameters:

x_o	x coordinate of the first point
y_o	y coordinate of the second point

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Member Function Documentation

void jafar::dseg::LineFitterKalman2::addPoint	(	double	t,
		const jblas::vec2 &	_point,
		double	angle,
		double	sigmaPx
	)

This function is called when a new point is detected.

Parameters:

t	distance from the first point
_point	position of the point
_angle	angle of the gradient around the point
step	step used to find the maximum of gradient

double jafar::dseg::LineFitterKalman2::angle

(

)

const

Returns:

the angle of the line between [-PI, PI]

bool jafar::dseg::LineFitterKalman2::compatible

(

const LineFitterKalman2 *

_lf

)

const

Returns:

true if _lf is compatible for merging with this segment

double jafar::dseg::LineFitterKalman2::direction

(

)

const

Returns:

the current direction of the line between [ -PI/2, PI/2]

double jafar::dseg::LineFitterKalman2::distance	(	double	_x,
		double	_y
	)		const

Returns:

the distance between the line and (x , y )

double jafar::dseg::LineFitterKalman2::errorAt

(

double

t

)

const

Returns:

the error at positon t

jblas::vec2 jafar::dseg::LineFitterKalman2::origin

(

)

const

Returns:

the origin

jblas::sym_mat22 jafar::dseg::LineFitterKalman2::originCov

(

)

const

Returns:

the covariance matrix of the origin

jblas::vec2 jafar::dseg::LineFitterKalman2::pointAt

(

double

t

)

const

Returns:

the point at positon t

double jafar::dseg::LineFitterKalman2::quality

(

)

const

Returns:

the determinant of the covariance matrix

const jblas::vec4& jafar::dseg::LineFitterKalman2::state

(

)

const

Returns:

the kalman state

jblas::sym_mat22 jafar::dseg::LineFitterKalman2::vecDirectionCov

(

)

const

Returns:

the covariance matrix of the direction vector

const jblas::vec2& jafar::dseg::LineFitterKalman2::vecNormal

(

)

const

Returns:

the vector normal

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

• modules/dseg/include/dseg/LineFitterKalman2.hpp