Defines | Functions | Variables
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.

Defines

#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]

Define Documentation

#define BIG_INITIAL_ERROR   1000000.0F

Definition at line 30 of file MbICP.c.


Function Documentation

static int computeMatrixLMSOpt ( TAsoc cp_ass,
int  cnt,
Tsc estimacion 
) [static]

Definition at line 526 of file MbICP.c.

static int EStep ( ) [static]

Definition at line 207 of file MbICP.c.

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.

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

Definition at line 162 of file MbICP.c.

static int MStep ( Tsc solucion) [static]

Definition at line 419 of file MbICP.c.

static void preProcessingLib ( Tpfp laserK,
Tpfp laserK1,
Tsc initialMotion 
) [static]

Definition at line 614 of file MbICP.c.


Variable Documentation

Definition at line 65 of file MbICP.c.

Definition at line 69 of file MbICP.c.

Definition at line 64 of file MbICP.c.

Definition at line 68 of file MbICP.c.

float distref[MAXLASERPOINTS] [static]

Definition at line 84 of file MbICP.c.

float error_k1 [static]

Definition at line 89 of file MbICP.c.

Definition at line 50 of file MbICP.c.

Definition at line 75 of file MbICP.c.

int numConverged [static]

Definition at line 90 of file MbICP.c.

Definition at line 57 of file MbICP.c.

Definition at line 61 of file MbICP.c.

Definition at line 72 of file MbICP.c.

Definition at line 60 of file MbICP.c.

float refdqx[MAXLASERPOINTS] [static]

Definition at line 80 of file MbICP.c.

float refdqx2[MAXLASERPOINTS] [static]

Definition at line 81 of file MbICP.c.

float refdqxdqy[MAXLASERPOINTS] [static]

Definition at line 85 of file MbICP.c.

float refdqy[MAXLASERPOINTS] [static]

Definition at line 82 of file MbICP.c.

float refdqy2[MAXLASERPOINTS] [static]

Definition at line 83 of file MbICP.c.



csm
Author(s): Andrea Censi
autogenerated on Mon Jan 16 2017 03:48:29