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Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
jlo::LocatedObject Class Reference

#include <LocatedObject.h>

Inheritance diagram for jlo::LocatedObject:
Inheritance graph
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List of all members.

Public Member Functions

bool CheckWorldCoordinates (const unsigned long &levelsTogo) const
double CompareLo (LocatedObject &obj_to_stop)
 compares two LocatedObjects returns the size of overlapping possibility cloud volume relative to the smaller covaiance value
ReturnMatrix GetCovarianceMatrix (LocatedObject &obj_to_stop)
ReturnMatrix GetCovarianceMatrix (const unsigned long &obj_to_stop=0)
virtual ReturnMatrix GetInvMatrix (LocatedObject &obj_to_stop)
virtual ReturnMatrix GetInvMatrix (const unsigned long &obj_to_stop=0)
virtual unsigned long GetLOType ()
 returns if the object needs its children to be moved
virtual ReturnMatrix GetMatrix (LocatedObject &obj_to_stop)
virtual ReturnMatrix GetMatrix (const unsigned long &id_to_stop=0)
ReturnMatrix GetOrigin (LocatedObject &obj_to_stop)
ReturnMatrix GetOrigin (const unsigned long &obj_to_stop=0)
ReturnMatrix GetRotation (LocatedObject &obj_to_stop)
ReturnMatrix GetRotation (const unsigned long &obj_to_stop=0)
 LocatedObject (LazyLocatedObjectLoader *loader)
 LocatedObject (LazyLocatedObjectLoader *loader, unsigned long id, unsigned long parent_id, const Matrix &matrix, const Matrix &covariance)
 LocatedObject (LazyLocatedObjectLoader *loader, unsigned long id, unsigned long parent_id, double x=0.0, double y=0.0, double z=0.0, double roll=0.0, double pitch=0.0, double yaw=0.0, double sigmaX=0.0, double sigmaY=0.0, double sigmaZ=0.0, double sigmaRoll=0.0, double sigmaPitch=0.0, double sigmaYaw=0.0)
void TransformPointLocally (const double &x_in, const double &y_in, const double &z_in, double &x_out, double &y_out, double &z_out, const double &scale=1)

Public Attributes

LazyLocatedObjectLoaderm_lazyObjLoader
unsigned long m_parentID
unsigned long m_uniqueID

Protected Member Functions

ReturnMatrix CalcNewCov (const DiagonalMatrix &eigenValues, const Matrix &eigenVectors, const Matrix &hom) const
unsigned long FindCommonFather (const LocatedObject *obj) const
virtual ReturnMatrix Get ()
virtual ReturnMatrix GetCovariance ()
virtual ReturnMatrix GetInv ()
virtual unsigned long Move (const Matrix &matrix, const Matrix &covMatrix)
virtual unsigned long Set (const Matrix &matrix, const Matrix &covMatrix)
ReturnMatrix TransformSixVec (const ColumnVector &point, const Matrix &hom) const
ReturnMatrix UnscentedTrans (const Matrix &cov, const Matrix &mean, const Matrix &hom) const

Protected Attributes

Matrix m_covariance
Matrix m_invRelativePosition
Matrix m_relativePosition

Detailed Description

class LocatedObject

Basic strcture for located object for lazy parent expansion Should be used outside of the lo service, it uses a

Definition at line 55 of file LocatedObject.h.


Constructor & Destructor Documentation

Definition at line 32 of file LocatedObject.cpp.

jlo::LocatedObject::LocatedObject ( LazyLocatedObjectLoader loader,
unsigned long  id,
unsigned long  parent_id,
const Matrix matrix,
const Matrix covariance 
)

Definition at line 38 of file LocatedObject.cpp.

jlo::LocatedObject::LocatedObject ( LazyLocatedObjectLoader loader,
unsigned long  id,
unsigned long  parent_id,
double  x = 0.0,
double  y = 0.0,
double  z = 0.0,
double  roll = 0.0,
double  pitch = 0.0,
double  yaw = 0.0,
double  sigmaX = 0.0,
double  sigmaY = 0.0,
double  sigmaZ = 0.0,
double  sigmaRoll = 0.0,
double  sigmaPitch = 0.0,
double  sigmaYaw = 0.0 
)

Definition at line 46 of file LocatedObject.cpp.


Member Function Documentation

ReturnMatrix jlo::LocatedObject::CalcNewCov ( const DiagonalMatrix eigenValues,
const Matrix eigenVectors,
const Matrix hom 
) const [inline, protected]

helping functions for UnscentedTrans

Definition at line 302 of file LocatedObject.cpp.

bool jlo::LocatedObject::CheckWorldCoordinates ( const unsigned long &  levelsTogo) const

Checks for circles, by looking for the world

levelTogo levels to go

Definition at line 69 of file LocatedObject.cpp.

double jlo::LocatedObject::CompareLo ( LocatedObject obj_to_stop)

compares two LocatedObjects returns the size of overlapping possibility cloud volume relative to the smaller covaiance value

CompareLo

obj_to_stop

Definition at line 536 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::FindCommonFather ( const LocatedObject bigObject) const [protected]

FindCommonFather

searches for the first common father node in the LocatedObject tree

obj id of the common father node

Remarks:
.. dies on cyclus

Definition at line 84 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::Get ( ) [protected, virtual]

Virtual Accessor to the Matrix, Always use this get

Returns:
Matrix
Matrix

Reimplemented in jlo::ObjectContainer.

Definition at line 567 of file LocatedObject.cpp.

Returns:
Matrix

Definition at line 575 of file LocatedObject.cpp.

GetCovarianceMatrix

Returns the current CovarianceMatrix relative to a certain LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 509 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetCovarianceMatrix ( const unsigned long &  id_to_stop = 0)
Returns:
Matrix
Parameters:
id_to_stop

Definition at line 442 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetInv ( ) [protected, virtual]

Virtual Accessor to the Invers-Matrix, use this to get mat!

Returns:
Matrix
Matrix

Reimplemented in jlo::ObjectContainer.

Definition at line 583 of file LocatedObject.cpp.

GetInvMatrix

Returns the current Matrix -inverted and- relative to a certain LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 192 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetInvMatrix ( const unsigned long &  obj_to_stop = 0) [virtual]

Definition at line 175 of file LocatedObject.cpp.

virtual unsigned long jlo::LocatedObject::GetLOType ( ) [inline, virtual]

returns if the object needs its children to be moved

GetLOType

Reimplemented in jlo::ServiceLocatedObject, and jlo::ObjectContainer.

Definition at line 187 of file LocatedObject.h.

GetMatrix

Returns the current Matrix relative to a certain id LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 160 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetMatrix ( const unsigned long &  id_to_stop = 0) [virtual]
Returns:
LocatedObject
Parameters:
smallObject
Returns:
Matrix
Parameters:
id_to_stop

Definition at line 129 of file LocatedObject.cpp.

GetOrigin

Returns the current 3D coordinate of the origin point relative to the given LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix 4 * 1 Vector

GetOrigin

Definition at line 206 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetOrigin ( const unsigned long &  obj_to_stop = 0)

Definition at line 211 of file LocatedObject.cpp.

GetRotation

Returns the current rotation vector to the given LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix 4 * 1 Vector

GetRotation

Definition at line 223 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetRotation ( const unsigned long &  obj_to_stop = 0)

Definition at line 227 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::Move ( const Matrix matrix,
const Matrix covMatrix 
) [protected, virtual]

Virtual Accessor to the Matrix,

Set moves relative to the preceeding node, without changing Move only moves in case of a moving object that has overwritten the function matrix the new matrix covMatrix

Reimplemented in jlo::ObjectContainer.

Definition at line 630 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::Set ( const Matrix matrix,
const Matrix covMatrix 
) [protected, virtual]

Virtual Accessor to the Matrix,

Set moves relative to the preceeding node, without changing Move only moves in case of a moving object that has overwritten the function matrix covMatrix

Parameters:
matrix

Definition at line 592 of file LocatedObject.cpp.

void jlo::LocatedObject::TransformPointLocally ( const double &  x_in,
const double &  y_in,
const double &  z_in,
double &  x_out,
double &  y_out,
double &  z_out,
const double &  scale = 1 
)

TransformPointLocally: Transform a 3d point relative to this lo relative to the father (TODO: rel to any)

x_in 3d point x-coordinate locally y_in 3d point y-coordinate locally z_in 3d point z-coordinate locally x_out 3d point x-coordinate transformed y_out 3d point y-coordinate transformed z_out 3d point z-coordinate transformed

Definition at line 637 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::TransformSixVec ( const ColumnVector point,
const Matrix hom 
) const [inline, protected]

Definition at line 235 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::UnscentedTrans ( const Matrix cov,
const Matrix mean,
const Matrix hom 
) const [inline, protected]

Performing a transformation approximation on the covariance

cov mean hom

Definition at line 406 of file LocatedObject.cpp.


Member Data Documentation

m_covariance

propagated uncertainty

Definition at line 219 of file LocatedObject.h.

m_invRelativePosition

The transormation in the inverse direction

Definition at line 210 of file LocatedObject.h.

m_lazyObjLoader

this component must be able to acquire the parent of this object

Definition at line 91 of file LocatedObject.h.

m_parentID

This member is a unique object ID of the parent

Remarks:
it has to be unique in a location tree, or problems for relative object localisation can appear

Definition at line 83 of file LocatedObject.h.

m_relativePosition

The transformation matrix to thepreeceding node in the LocatedObject Tree

Remarks:
only access through the virtual accessor Get() and Set also internally

Definition at line 202 of file LocatedObject.h.

m_uniqueID

This member is a unique object ID,

Remarks:
it has to be unique in a location tree, or problems for relative object localisation can appear

Definition at line 73 of file LocatedObject.h.


The documentation for this class was generated from the following files:
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lo
Author(s): U. Klank
autogenerated on Thu May 23 2013 07:34:46