Public Member Functions | Static Public Member Functions | Public Attributes | Private Member Functions | Static Private Member Functions
ClearpathDemoTools Class Reference

#include <ClearpathDemoTools.h>

List of all members.

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
Squareinit_map
double last_normal [4]
double lin_speed
Squaremapc
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

Definition at line 266 of file ClearpathDemoTools.cpp.

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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 
)

Definition at line 319 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::InitTrack ( double  _lin_speed,
double  _ang_speed,
double  _cam_height,
double  _cam_z_trans,
double  _window_size 
)

Definition at line 343 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::NIUpdate ( float *  px,
float *  py,
float *  pz,
unsigned int  len,
double *  return_lin_vel,
double *  return_ang_vel 
)

Definition at line 372 of file ClearpathDemoTools.cpp.

bool ClearpathDemoTools::PlaneLS ( PointCloud cloud,
double *  normal_coeff 
) [static]

Definition at line 136 of file ClearpathDemoTools.cpp.

bool ClearpathDemoTools::PlaneRANSAC ( PointCloud cloud,
double *  normal_coeff,
bool  match_coeff 
) [static]

Definition at line 74 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::PlaneSegment ( PointCloud cloud,
PointCloud plane,
PointCloud seg_cloud,
double *  norm,
double  thresh 
) [static]

Definition at line 176 of file ClearpathDemoTools.cpp.

bool ClearpathDemoTools::TransformByNormal ( PointCloud cloud,
PointCloud cloud_out,
double *  normal_coeff 
) [static]

Definition at line 198 of file ClearpathDemoTools.cpp.

Definition at line 386 of file ClearpathDemoTools.cpp.

void ClearpathDemoTools::VerticalCut ( PointCloud cloud,
PointCloud cloud_out,
double  min,
double  max,
int  skim_factor 
) [static]

Definition at line 226 of file ClearpathDemoTools.cpp.


Member Data Documentation

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


clearpath_kinect_demo
Author(s): Sean Anderson
autogenerated on Thu Jan 2 2014 11:06:26