FilteredPolygon.h
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00001 /* -*- mode: C++ -*- */
00002 
00003 // Filtered MapLanes
00004 // Started - 1st August 2007
00005 // Michael Quinlan
00006 // $Id: FilteredPolygon.h 614 2010-09-24 15:08:46Z jack.oquin $
00007 
00008 #include <art_msgs/ArtQuadrilateral.h>
00009 #include <art_map/KF.h>
00010 #include <art_map/Matrix.h>
00011 #include <art_map/PolyOps.h>
00012 
00013 #define NUM_POINTS 4
00014 
00015 class FilteredPolygon 
00016 {
00017  public:
00018   FilteredPolygon();
00019   ~FilteredPolygon() {};
00020 
00021   void SetPoint(int pointID, float x, float y);
00022   void UpdatePoint(int pointID, float visionDistance, float visionAngle,
00023                    float confidence,float rx, float ry, float rori);
00024   Matrix GetDistanceJacobian(float xb, float yb, float x, float y);
00025   Matrix GetAngleJacobian(float xb, float yb, float x, float y);
00026  
00027   KF point[NUM_POINTS];
00028   KFStruct distStruct;
00029   KFStruct angleStruct;
00030 
00031   void SetPolygon(poly p);
00032   poly GetPolygon();
00033   art_msgs::ArtQuadrilateral GetQuad();
00034 
00035  private:
00036   poly polygon_;
00037   PolyOps ops_;
00038 };


art_map
Author(s): David Li, Patrick Beeson, Bartley Gillen, Tarun Nimmagadda, Mickey Ristroph, Michael Quinlan, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:08:34