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Classes | |
| struct | correspondence |
| struct | laser_data |
| struct | point2d |
Typedefs | |
| typedef struct laser_data * | LDP |
Functions | |
| void | ld_alloc (LDP, int nrays) |
| LDP | ld_alloc_new (int nrays) |
| void | ld_compute_cartesian (LDP) |
| void | ld_compute_orientation (LDP ld, int size_neighbourhood, double sigma) |
| void | ld_compute_world_coords (LDP, const double *pose) |
| unsigned int | ld_corr_hash (LDP) |
| void | ld_create_jump_tables (LDP) |
| void | ld_dealloc (LDP) |
| void | ld_free (LDP) |
| LDP | ld_from_carmen_string (const char *line) |
| int | ld_num_valid_correspondences (LDP) |
| int | ld_read_all (FILE *file, LDP **array, int *num) |
| int | ld_read_next_laser_carmen (FILE *, LDP *ld) |
| LDP | ld_read_smart (FILE *) |
| LDP | ld_read_smart_string (const char *) |
| int | ld_read_some_scans (FILE *file, LDP **array, int *num, int interval) |
| void | ld_simple_clustering (LDP ld, double threshold) |
| int | ld_valid_fields (LDP) |
| void | ld_write_as_carmen (LDP ld, FILE *stream) |
| void | ld_write_format (LDP ld, FILE *stream, const char *out_format) |
| void | possible_interval (const double *p_i_w, LDP laser_sens, double max_angular_correction_deg, double max_linear_correction, int *from, int *to, int *start_cell) |
Typedef Documentation
| typedef struct laser_data* LDP |
Definition at line 74 of file laser_data.h.
Function Documentation
| void ld_alloc | ( | LDP | , |
| int | nrays | ||
| ) |
This allocs the fields in the given structure. Use ld_alloc_new(), not this.
Definition at line 34 of file laser_data.c.
| LDP ld_alloc_new | ( | int | nrays | ) |
This returns a new structure, with all fields initialized
Definition at line 12 of file laser_data.c.
| void ld_compute_cartesian | ( | LDP | ) |
Fills the x,y fields in "points" by transforming (theta, reading) to cartesian
Definition at line 118 of file laser_data.c.
| void ld_compute_orientation | ( | LDP | ld, |
| int | size_neighbourhood, | ||
| double | sigma | ||
| ) |
A cool orientation estimation algorithm. Needs cluster.
Requires the "cluster" field to be set
Definition at line 14 of file orientation.c.
| void ld_compute_world_coords | ( | LDP | , |
| const double * | pose | ||
| ) |
Computes the "points_w" coordinates by roto-translating "points"
Definition at line 133 of file laser_data.c.
| unsigned int ld_corr_hash | ( | LDP | ld | ) |
Computes an hash of the correspondences
Definition at line 267 of file laser_data.c.
| void ld_create_jump_tables | ( | LDP | ) |
Fills the fields: *up_bigger, *up_smaller, *down_bigger, *down_smaller.
| void ld_dealloc | ( | LDP | ) |
This does NOT free the pointer. Don't use – use ld_alloc_new()/ld_free() instead.
| void ld_free | ( | LDP | ) |
This DOES free() the pointer
Definition at line 87 of file laser_data.c.
| LDP ld_from_carmen_string | ( | const char * | line | ) |
Read laser data from a Carmen-formatted line
Definition at line 52 of file laser_data_carmen.c.
| int ld_num_valid_correspondences | ( | LDP | ) |
Returns the number of valid correspondences.
Definition at line 168 of file laser_data.c.
| int ld_read_all | ( | FILE * | file, |
| LDP ** | array, | ||
| int * | num | ||
| ) |
Reads all the scans it can find.
Definition at line 79 of file laser_data_load.c.
| int ld_read_next_laser_carmen | ( | FILE * | file, |
| LDP * | ld | ||
| ) |
Read next FLASER line in file (initializes ld). Returns 0 on failure. If the file is EOF, it returns 1 and sets ld to 0. You probably want to use the ld_read_smart() function.
Read next FLASER line in file, or NULL on error
Definition at line 170 of file laser_data_carmen.c.
| LDP ld_read_smart | ( | FILE * | f | ) |
Tries to read a laser scan from file. If error or EOF, it returns 0. Whitespace is skipped. If first valid char is '{', it tries to read it as JSON. If next char is 'F' (first character of "FLASER"), it tries to read in Carmen format. Else, 0 is returned.
Tries to read a laser scan from file. If error or EOF, it returns 0. Whitespace is skipped. If first valid char is '{', it tries to read it as JSON. If next char is 'F' (first character of "FLASER"), it tries to read in Carmen format. Other lines are discarded. 0 is returned on error or feof
Definition at line 130 of file laser_data_load.c.
| LDP ld_read_smart_string | ( | const char * | ) |
Tries to read a laser scan from a string.
Definition at line 173 of file laser_data_load.c.
| int ld_read_some_scans | ( | FILE * | file, |
| LDP ** | array, | ||
| int * | num, | ||
| int | interval | ||
| ) |
Read a scan every interval (1=all)
Definition at line 71 of file laser_data_load.c.
| void ld_simple_clustering | ( | LDP | ld, |
| double | threshold | ||
| ) |
A simple clustering algorithm. Sets the `cluster' field in the structure.
Definition at line 11 of file clustering.c.
| int ld_valid_fields | ( | LDP | ) |
Do an extensive sanity check about the data contained in the structure.
Definition at line 179 of file laser_data.c.
| void ld_write_as_carmen | ( | LDP | ld, |
| FILE * | stream | ||
| ) |
Write a scan in carmen format
Write the laser data in CARMEN format
Definition at line 193 of file laser_data_carmen.c.
| void ld_write_format | ( | LDP | ld, |
| FILE * | stream, | ||
| const char * | out_format | ||
| ) |
Write a scan according to out_format = {"carmen", "json"}
Definition at line 213 of file laser_data_carmen.c.
| void possible_interval | ( | const double * | p_i_w, |
| LDP | laser_sens, | ||
| double | max_angular_correction_deg, | ||
| double | max_linear_correction, | ||
| int * | from, | ||
| int * | to, | ||
| int * | start_cell | ||
| ) |
Definition at line 10 of file math_utils.c.