LshapeTracker Class Reference

#include <l_shape_tracker.hpp>

Public Member Functions
void	BoxModel (double &x, double &y, double &vx, double &vy, double &theta, double &psi, double &omega, double &L1, double &L2, double &length, double &width)
	LshapeTracker (const double &x_corner, const double &y_corner, const double &L1, const double &L2, const double &theta, const double &dt)
	LshapeTracker ()
void	update (const double &thetaL1, const double &x_corner, const double &y_corner, const double &L1, const double &L2, const double &dt, const int cluster_size)

Private Member Functions
void	ClockwisePointSwitch ()
void	CounterClockwisePointSwitch ()
void	detectCornerPointSwitch (const double &from, const double &to, const double dt)
void	detectCornerPointSwitchMahalanobis (const double &from, const double &to, const double dt)
void	detectCornerPointSwitchMahalanobis (const double &from, const double &to, const double L1, const double L2, const double x_corner, const double y_corner)
void	findOrientation (double &psi, double &length, double &width)
	Finds orientations of tracked object. More...
double	findTurn (const double &new_angle, const double &old_angle)

Private Attributes
int	current_size
KalmanFilter	dynamic_kf
double	L1_old
double	L2_old
double	old_thetaL1
KalmanFilter	shape_kf
double	test1
double	test2
double	test3
double	x_old
double	y_old

Detailed Description

Definition at line 45 of file l_shape_tracker.hpp.

Constructor & Destructor Documentation

LshapeTracker() [1/2]

LshapeTracker::LshapeTracker	(	const double &	x_corner,
		const double &	y_corner,
		const double &	L1,
		const double &	L2,
		const double &	theta,
		const double &	dt
	)

Definition at line 58 of file l_shape_tracker.cpp.

LshapeTracker() [2/2]

LshapeTracker::LshapeTracker

(

)

Definition at line 56 of file l_shape_tracker.cpp.

Member Function Documentation

BoxModel()

void LshapeTracker::BoxModel	(	double &	x,
		double &	y,
		double &	vx,
		double &	vy,
		double &	theta,
		double &	psi,
		double &	omega,
		double &	L1,
		double &	L2,
		double &	length,
		double &	width
	)

Definition at line 260 of file l_shape_tracker.cpp.

ClockwisePointSwitch()

void LshapeTracker::ClockwisePointSwitch ( )

private

Definition at line 342 of file l_shape_tracker.cpp.

CounterClockwisePointSwitch()

void LshapeTracker::CounterClockwisePointSwitch ( )

private

Definition at line 377 of file l_shape_tracker.cpp.

detectCornerPointSwitch()

void LshapeTracker::detectCornerPointSwitch ( const double &  from, const double &  to, const double  dt  )

private

Definition at line 294 of file l_shape_tracker.cpp.

detectCornerPointSwitchMahalanobis() [1/2]

void LshapeTracker::detectCornerPointSwitchMahalanobis ( const double &  from, const double &  to, const double  dt  )

private

detectCornerPointSwitchMahalanobis() [2/2]

void LshapeTracker::detectCornerPointSwitchMahalanobis ( const double &  from, const double &  to, const double  L1, const double  L2, const double  x_corner, const double  y_corner  )

private

Definition at line 180 of file l_shape_tracker.cpp.

findOrientation()

void LshapeTracker::findOrientation ( double &  psi, double &  length, double &  width  )

private

Finds orientations of tracked object.

Given the orientation of L1 the other three angles of the rectangle are calculated. Then they are compared with the speed of the object, to estimate it's direction.

angle of one edge of the box velocity in the x axis velocity in the y axis orientation of tracked object, based on it's speed

Definition at line 305 of file l_shape_tracker.cpp.

findTurn()

double LshapeTracker::findTurn ( const double &  new_angle, const double &  old_angle  )

private

Definition at line 281 of file l_shape_tracker.cpp.

update()

void LshapeTracker::update	(	const double &	thetaL1,
		const double &	x_corner,
		const double &	y_corner,
		const double &	L1,
		const double &	L2,
		const double &	dt,
		const int	cluster_size
	)

Definition at line 147 of file l_shape_tracker.cpp.

Member Data Documentation

current_size

int LshapeTracker::current_size

private

Definition at line 54 of file l_shape_tracker.hpp.

dynamic_kf

KalmanFilter LshapeTracker::dynamic_kf

private

Definition at line 59 of file l_shape_tracker.hpp.

L1_old

double LshapeTracker::L1_old

private

Definition at line 56 of file l_shape_tracker.hpp.

L2_old

double LshapeTracker::L2_old

private

Definition at line 56 of file l_shape_tracker.hpp.

old_thetaL1

double LshapeTracker::old_thetaL1

private

Definition at line 56 of file l_shape_tracker.hpp.

shape_kf

KalmanFilter LshapeTracker::shape_kf

private

Definition at line 58 of file l_shape_tracker.hpp.

test1

double LshapeTracker::test1

private

Definition at line 55 of file l_shape_tracker.hpp.

test2

double LshapeTracker::test2

private

Definition at line 55 of file l_shape_tracker.hpp.

test3

double LshapeTracker::test3

private

Definition at line 55 of file l_shape_tracker.hpp.

x_old

double LshapeTracker::x_old

private

Definition at line 56 of file l_shape_tracker.hpp.

y_old

double LshapeTracker::y_old

private

Definition at line 56 of file l_shape_tracker.hpp.

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

• l_shape_tracker.hpp
• l_shape_tracker.cpp