Macros | Functions | Variables
MbICP.c File Reference
#include "MbICP.h"
#include "MbICP2.h"
#include "calcul.h"
#include "sp_matrix.h"
#include <stdio.h>
#include <math.h>
#include "percolate.h"
Include dependency graph for MbICP.c:

Go to the source code of this file.

Macros

#define BIG_INITIAL_ERROR   1000000.0F
 

Functions

static int computeMatrixLMSOpt (TAsoc *cp_ass, int cnt, Tsc *estimacion)
 
static int EStep ()
 
void Init_MbICP_ScanMatching (float max_laser_range, float Bw, float Br, float L, int laserStep, float MaxDistInter, float filter, int ProjectionFilter, float AsocError, int MaxIter, float error_ratio, float error_x, float error_y, float error_t, int IterSmoothConv)
 
int MbICPmatcher (Tpfp *laserK, Tpfp *laserK1, Tsc *sensorMotion, Tsc *solution)
 
static int MStep (Tsc *solucion)
 
static void preProcessingLib (Tpfp *laserK, Tpfp *laserK1, Tsc *initialMotion)
 

Variables

int cntAssociationsT
 
int cntAssociationsTemp
 
TAsoc cp_associations [MAXLASERPOINTS]
 
TAsoc cp_associationsTemp [MAXLASERPOINTS]
 
static float distref [MAXLASERPOINTS]
 
static float error_k1
 
float MAXLASERRANGE
 
Tsc motion2
 
static int numConverged
 
TSMparams params
 
Tscan ptosNew
 
Tscan ptosNoView
 
Tscan ptosRef
 
static float refdqx [MAXLASERPOINTS]
 
static float refdqx2 [MAXLASERPOINTS]
 
static float refdqxdqy [MAXLASERPOINTS]
 
static float refdqy [MAXLASERPOINTS]
 
static float refdqy2 [MAXLASERPOINTS]
 

Macro Definition Documentation

#define BIG_INITIAL_ERROR   1000000.0F

Definition at line 30 of file MbICP.c.

Function Documentation

static int computeMatrixLMSOpt ( TAsoc cp_ass,
int  cnt,
Tsc estimacion 
)
static

Definition at line 526 of file MbICP.c.

static int EStep ( )
static

Definition at line 207 of file MbICP.c.

void Init_MbICP_ScanMatching ( float  max_laser_range,
float  Bw,
float  Br,
float  L,
int  laserStep,
float  MaxDistInter,
float  filter,
int  ProjectionFilter,
float  AsocError,
int  MaxIter,
float  error_ratio,
float  error_x,
float  error_y,
float  error_t,
int  IterSmoothConv 
)

Definition at line 122 of file MbICP.c.

int MbICPmatcher ( Tpfp laserK,
Tpfp laserK1,
Tsc sensorMotion,
Tsc solution 
)

Definition at line 162 of file MbICP.c.

static int MStep ( Tsc solucion)
static

Definition at line 419 of file MbICP.c.

static void preProcessingLib ( Tpfp laserK,
Tpfp laserK1,
Tsc initialMotion 
)
static

Definition at line 614 of file MbICP.c.

Variable Documentation

int cntAssociationsT

Definition at line 65 of file MbICP.c.

int cntAssociationsTemp

Definition at line 69 of file MbICP.c.

TAsoc cp_associations[MAXLASERPOINTS]

Definition at line 64 of file MbICP.c.

TAsoc cp_associationsTemp[MAXLASERPOINTS]

Definition at line 68 of file MbICP.c.

float distref[MAXLASERPOINTS]
static

Definition at line 84 of file MbICP.c.

float error_k1
static

Definition at line 89 of file MbICP.c.

float MAXLASERRANGE

Definition at line 50 of file MbICP.c.

Tsc motion2

Definition at line 75 of file MbICP.c.

int numConverged
static

Definition at line 90 of file MbICP.c.

Definition at line 57 of file MbICP.c.

Tscan ptosNew

Definition at line 61 of file MbICP.c.

Tscan ptosNoView

Definition at line 72 of file MbICP.c.

Tscan ptosRef

Definition at line 60 of file MbICP.c.

float refdqx[MAXLASERPOINTS]
static

Definition at line 80 of file MbICP.c.

float refdqx2[MAXLASERPOINTS]
static

Definition at line 81 of file MbICP.c.

float refdqxdqy[MAXLASERPOINTS]
static

Definition at line 85 of file MbICP.c.

float refdqy[MAXLASERPOINTS]
static

Definition at line 82 of file MbICP.c.

float refdqy2[MAXLASERPOINTS]
static

Definition at line 83 of file MbICP.c.



csm
Author(s): Andrea Censi
autogenerated on Tue May 11 2021 02:18:23