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

BIG_INITIAL_ERROR

#define BIG_INITIAL_ERROR   1000000.0F

Definition at line 30 of file MbICP.c.

Function Documentation

computeMatrixLMSOpt()

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

static

Definition at line 526 of file MbICP.c.

EStep()

static int EStep ( )

static

Definition at line 207 of file MbICP.c.

Init_MbICP_ScanMatching()

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.

MbICPmatcher()

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

Definition at line 162 of file MbICP.c.

MStep()

static int MStep ( Tsc *  solucion )

static

Definition at line 419 of file MbICP.c.

preProcessingLib()

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

static

Definition at line 614 of file MbICP.c.

Variable Documentation

cntAssociationsT

int cntAssociationsT

Definition at line 65 of file MbICP.c.

cntAssociationsTemp

int cntAssociationsTemp

Definition at line 69 of file MbICP.c.

cp_associations

TAsoc cp_associations[MAXLASERPOINTS]

Definition at line 64 of file MbICP.c.

cp_associationsTemp

TAsoc cp_associationsTemp[MAXLASERPOINTS]

Definition at line 68 of file MbICP.c.

distref

float distref[MAXLASERPOINTS]

static

Definition at line 84 of file MbICP.c.

error_k1

float error_k1

static

Definition at line 89 of file MbICP.c.

MAXLASERRANGE

float MAXLASERRANGE

Definition at line 50 of file MbICP.c.

motion2

Tsc motion2

Definition at line 75 of file MbICP.c.

numConverged

int numConverged

static

Definition at line 90 of file MbICP.c.

params

TSMparams params

Definition at line 57 of file MbICP.c.

ptosNew

Tscan ptosNew

Definition at line 61 of file MbICP.c.

ptosNoView

Tscan ptosNoView

Definition at line 72 of file MbICP.c.

ptosRef

Tscan ptosRef

Definition at line 60 of file MbICP.c.

refdqx

float refdqx[MAXLASERPOINTS]

static

Definition at line 80 of file MbICP.c.

refdqx2

float refdqx2[MAXLASERPOINTS]

static

Definition at line 81 of file MbICP.c.

refdqxdqy

float refdqxdqy[MAXLASERPOINTS]

static

Definition at line 85 of file MbICP.c.

refdqy

float refdqy[MAXLASERPOINTS]

static

Definition at line 82 of file MbICP.c.

refdqy2

float refdqy2[MAXLASERPOINTS]

static

Definition at line 83 of file MbICP.c.