Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008 #include <art_msgs/ArtQuadrilateral.h>
00009 #include <art_map/KF.h>
00010 #include <art_map/Matrix.h>
00011 #include <art_map/PolyOps.h>
00012
00013 #define NUM_POINTS 4
00014
00015 class FilteredPolygon
00016 {
00017 public:
00018 FilteredPolygon();
00019 ~FilteredPolygon() {};
00020
00021 void SetPoint(int pointID, float x, float y);
00022 void UpdatePoint(int pointID, float visionDistance, float visionAngle,
00023 float confidence,float rx, float ry, float rori);
00024 Matrix GetDistanceJacobian(float xb, float yb, float x, float y);
00025 Matrix GetAngleJacobian(float xb, float yb, float x, float y);
00026
00027 KF point[NUM_POINTS];
00028 KFStruct distStruct;
00029 KFStruct angleStruct;
00030
00031 void SetPolygon(poly p);
00032 poly GetPolygon();
00033 art_msgs::ArtQuadrilateral GetQuad();
00034
00035 private:
00036 poly polygon_;
00037 PolyOps ops_;
00038 };
art_map
Author(s): David Li, Patrick Beeson, Bartley Gillen, Tarun Nimmagadda,
Mickey Ristroph, Michael Quinlan, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:41:51