#include <ClearpathDemoTools.h>

Public Member Functions
	ClearpathDemoTools ()
void	InitExplore (double _lin_speed, double _ang_speed, double _cam_height, double _cam_z_trans, double _wall_buffer, int _random_walk)
void	InitTrack (double _lin_speed, double _ang_speed, double _cam_height, double _cam_z_trans, double _window_size)
void	NIUpdate (float px, float py, float pz, unsigned int len, double return_lin_vel, double *return_ang_vel)
Twist	Update (PointCloud cloud, PointCloud result)
virtual	~ClearpathDemoTools ()
Static Public Member Functions
static Twist	DetermineVelocity (double x, double z, double speed)
static bool	PlaneLS (PointCloud cloud, double normal_coeff)
static bool	PlaneRANSAC (PointCloud cloud, double normal_coeff, bool match_coeff)
static void	PlaneSegment (PointCloud cloud, PointCloud plane, PointCloud seg_cloud, double norm, double thresh)
static bool	TransformByNormal (PointCloud cloud, PointCloud cloud_out, double *normal_coeff)
static void	VerticalCut (PointCloud cloud, PointCloud cloud_out, double min, double max, int skim_factor)
Public Attributes
double	ang_speed
double	base_normal [4]
double	cam_height
double	cam_z_trans
PointCloud	cloudCopy
PointCloud	cloudCut
unsigned int	drawInc
PointCloud	final
double	incX
double	incZ
Square *	init_map
double	last_normal [4]
double	lin_speed
Square *	mapc
double	maxAng
double	maxX
double	maxZ
double	minAng
double	minX
double	minZ
int	mode
bool	normal_initialized
unsigned int	numIncX
unsigned int	numIncZ
unsigned int	obstacleThreshold
bool	old_clearpath
int	old_dir
PointCloud	plane
int	random_walk
PointCloud	seg
double	targetW
double	targetX
double	targetZ
double	wall_buffer
Private Member Functions
void	getBins (double x, double z, unsigned int binX, unsigned int binZ)
void	Init (double _lin_speed, double _ang_speed, double _cam_height, double _cam_z_trans, unsigned int _numIncX, unsigned int _numIncZ)
Static Private Member Functions
static bool	GetPlaneFromRnd3 (PointCloud cloud, double normal_coeff)

Detailed Description

Definition at line 61 of file ClearpathDemoTools.h.

Constructor & Destructor Documentation

ClearpathDemoTools::ClearpathDemoTools ( )

Definition at line 266 of file ClearpathDemoTools.cpp.

ClearpathDemoTools::~ClearpathDemoTools ( ) [virtual]

Definition at line 271 of file ClearpathDemoTools.cpp.

Member Function Documentation

Twist ClearpathDemoTools::DetermineVelocity	(	double	x,
		double	z,
		double	speed
	)		`[static]`

Definition at line 239 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::getBins	(	double	x,
		double	z,
		unsigned int *	binX,
		unsigned int *	binZ
	)		`[private]`

Definition at line 365 of file ClearpathDemoTools.cpp.

bool ClearpathDemoTools::GetPlaneFromRnd3	(	PointCloud *	cloud,
		double *	normal_coeff
	)		`[static, private]`

Definition at line 18 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::Init	(	double	_lin_speed,
		double	_ang_speed,
		double	_cam_height,
		double	_cam_z_trans,
		unsigned int	_numIncX,
		unsigned int	_numIncZ
	)		`[private]`

Definition at line 278 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::InitExplore	(	double	_lin_speed,
		double	_ang_speed,
		double	_cam_height,
		double	_cam_z_trans,
		double	_wall_buffer,
		int	_random_walk
	)