Classes | |
| class | ArakProcess |
| An Arak process. More... | |
| class | ArakPrior |
| A standard Arak prior process. More... | |
| class | CN94Proposal |
| An implementation of the proposal distribution described in Clifford & Nicholls (1994). More... | |
| class | CN94Proposal::InteriorTriangleBirth |
| Adds a triangle to the interior of the colored region; all points inside the triangle are recolored. More... | |
| class | CN94Proposal::InteriorTriangleDeath |
| Removes a triangle from the interior of the colored region; all points inside the triangle are recolored. More... | |
| class | CN94Proposal::Recolor |
| Recolors a quadrilateral region of the coloring by replacing two interior edges with two new interior edges that connect the endpoints of the original edges. More... | |
| class | CN94Proposal::MoveInteriorVertex |
| Changes the location of an interior vertex. More... | |
| class | CN94Proposal::MoveVertexAlongBdEdge |
| Moves a boundary vertex along its current boundary face. More... | |
| class | CN94Proposal::MoveBdVertexPastCorner |
| Moves a boundary vertex past a corner to an adjacent face of the boundary. More... | |
| class | CN94Proposal::InteriorVertexBirth |
| Splits an interior edge into two by creating a new interior vertex between its endpoints. More... | |
| class | CN94Proposal::InteriorVertexDeath |
| Removes an interior vertex whose adjacent vertices are not connected; the adjacent vertices are joined by a new edge. More... | |
| class | CN94Proposal::BoundaryTriangleBirth |
| Adds a triangle with one edge along the boundary of the colored region; all points inside the triangle are recolored. More... | |
| class | CN94Proposal::BoundaryTriangleDeath |
| Removes a triangle against the boundary of the colored region; all points inside the triangle are recolored. More... | |
| class | CN94Proposal::CornerCutBirth |
| Recolors a triangle in a corner of the region. More... | |
| class | CN94Proposal::CornerCutDeath |
| Removes a triangle in a corner of the region; all points inside the triangle are recolored. More... | |
| class | ModifiedCN94Proposal |
| This is a modified version of the Clifford & Nicholls (1994) proposal distribution in which the recolor move samples edges that are close together. More... | |
| class | ModifiedCN94Proposal::SlideInteriorVertex |
| Changes the location of an interior vertex by sliding it along one of its incident edges. More... | |
| class | Coloring |
| Represents a binary polygonal coloring of a planar region whose boundary is an axis aligned rectangle. More... | |
| struct | Coloring::FaceColorInfo |
| This is the base class for objects that annotate the faces of a triangulation representing a coloring. More... | |
| struct | Coloring::TriangulationTraits |
| These traits describe the types used to form a triangulation representation of a coloring. More... | |
| class | Coloring::Vertex |
| A vertex joins interior and/or boundary edges. More... | |
| class | Coloring::Edge |
| An edge joins two vertices. More... | |
| class | Coloring::InteriorEdge |
| An edge whose interior is inside the colored region; its associated line segment represents a color discontinuity. More... | |
| class | Coloring::BoundaryEdge |
| An edge that lies in the boundary of the colored region; such edges do not represent color discontinuities. More... | |
| class | Coloring::Listener |
| This interface is implemented by objects that must be notified when the coloring is updated. More... | |
| struct | Coloring::TEST_IF_VALID_TAG |
| A tag that is used to dispatch a method that checks whether an update would leave the coloring in a valid state. More... | |
| struct | Coloring::DO_IF_VALID_TAG |
| A tag that is used to dispatch a method that first checks whether an update would leave the coloring in a valid state, and if it would, the update is executed. More... | |
| struct | Coloring::DO_WITHOUT_TEST_TAG |
| A tag that is used to dispatch a method that executes an update without first checking to see if it would leave the coloring in a valid state. More... | |
| class | ColoringMove |
| A change to a coloring that is reversible. More... | |
| class | NullColoringMove |
| A null move. More... | |
| class | ColoringProposal |
| The proposal distribution of the Markov chain. More... | |
| struct | ArakMarkovChainTraits |
| struct | ScanVertex |
| An endpoint of a scan edge. More... | |
| struct | ScanEdge |
| A scan edge is an edge of the scan adorned with metadata. More... | |
| class | ScanVertexComparator |
| This object is used to place a total ordering on scan vertices. More... | |
| struct | ScanEvent |
| A scan event represents a portion of an interior edge that is visible. More... | |
| class | PointColorEstimator |
| An estimator of the color of a point. More... | |
| class | PointSetColorEstimator |
| A set of point color estimators at arbitrary locations. More... | |
| class | GridColorEstimator |
| A grid of point color estimators. More... | |
| class | Grid |
| A grid partitions a rectangular region into rectangular cells of equal height and width. More... | |
| class | Grid::Cell |
| A cell is a rectangular subregion of the window. More... | |
| class | Grid::Cell::Entry |
| This is a object which permits the efficient removal of an item from a cell's list of items. More... | |
| class | Grid::LineCellIteratorBase |
| A forwards iterator that ranges over the cells whose closures intersect a given ray or line segment. More... | |
| struct | Grid::LineCellIteratorBase::SEGMENT |
| A tag supplied to the constructor to indicate the iterator should traverse the cells intersected by a line segment. More... | |
| struct | Grid::LineCellIteratorBase::RAY |
| A tag supplied to the constructor to indicate the iterator should traverse the cells intersected by a ray. More... | |
| class | Grid::RectangleCellIteratorBase |
| A mutable forwards iterator that ranges over the cells whose closures intersect a given axis-aligned rectangle. More... | |
| class | Grid::TriangleCellIteratorBase |
| A forwards iterator that ranges over the cells whose closures intersect a given triangle. More... | |
| class | Grid::ConvexPolygonCellIteratorBase |
| A forwards iterator that ranges over the cells whose closures intersect a given convex polygon. More... | |
| class | ColoringQTLayer |
| class | ColoringQTWidget |
| class | MarkovChain |
| A Metropolis-Hastings Markov chain. More... | |
| class | AnnealedMarkovChain |
| An annealed Metropolis-Hastings Markov chain. More... | |
| class | StochasticHillClimber |
| A stochastic hill climbing Markov chain. More... | |
| class | OccupancyGrid |
| This is a simple class that implements "evidence grid" maps for laser and sonar updates. More... | |
| class | OccupancyGrid::OccupancyEstimator |
| Estimates the probability a cell is occupied. More... | |
| class | QueryPointPotential |
| An object that listens to the color of a point and updates a potential to reflect its current cost. More... | |
| class | ArakPosteriorGaussianObs |
| An posterior Arak process conditioned on color measurements with Gaussian noise. More... | |
| class | ArakPosteriorBernoulliObs |
| An posterior Arak process conditioned on color measurements with Bernoulli noise. More... | |
| class | QueryPointListener |
| This class is inherited by objects that need to be informed when the color of a query point changes. More... | |
| class | QueryPoint |
| A query point is a point whose current color is maintained by a Coloring object. More... | |
| class | QueryPointListenerFactory |
| This class is specialized by objects that create listeners for points. More... | |
| class | QueryPointIndex |
| A query point index is a collection of query points that are indexed to permit efficient range searching. More... | |
| class | QueryPointIndex::SearchTraits |
| The type of kd-tree traits. More... | |
| class | QueryPointIndex::RecolorTriangleFunction |
| This functor is used to recolor all query points inside a triangular region. More... | |
| class | QueryPointIndex::RecolorQuadrilateralFunction |
| This functor is used to recolor all query points inside a quadrilateral region (that is not necessarily convex). More... | |
| class | ArakPosteriorRangeObs |
| An posterior Arak process conditioned on localized range measurements with Gaussian noise. More... | |
| class | ArakPosteriorRangeObs::RangeObs |
| A range observation. More... | |
| struct | SonarImpact |
| Impact objects represent those aspects of a sonar impact that are relevant for likelihood computations. More... | |
| class | ArakPosteriorSonarObs |
| An posterior Arak process conditioned on localized sonar measurements with Gaussian noise. More... | |
| class | ArakPosteriorSonarObs::SonarObs |
| A sonar observation. More... | |
| class | CriticalStatsEstimator |
| An object which estimates several critical statistics whose true values are known for the Arak process. More... | |
Typedefs | |
| typedef MarkovChain< ArakMarkovChainTraits > | ArakMarkovChain |
| A Metropolis-Hastings Markov chain for obtaining samples from an Arak process. | |
| typedef AnnealedMarkovChain< ArakMarkovChainTraits > | AnnealedArakMarkovChain |
| An annealed Metropolis-Hastings Markov chain for obtaining samples from an Arak process. | |
| typedef StochasticHillClimber< ArakMarkovChainTraits > | HillClimbingArakMarkovChain |
| A stochastic hill climbing Markov chain for optimizing an Arak process. | |
| typedef PointerHandle< ScanEdge > | ScanEdgeHandle |
| typedef std::list< QueryPointListener * > | QueryPointListenerList |
| A list of listeners associated with the same query point. | |
Enumerations | |
| enum | Color { WHITE = 0, BLACK, INVALID_COLOR } |
| The possible colors. More... | |
| enum | VizType { PROC_AND_BD = 0, COLORING, PT_COL_EST_AND_BD, QUERY_PTS_AND_BD } |
Functions | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, const ArakProcess &p) |
| Renders a graphical representation of an Arak process using the supplied widget. | |
| std::ostream & | operator<< (std::ostream &out, const Coloring &c) |
| Writes a text representation of the coloring to the stream. | |
| std::istream & | operator>> (std::istream &in, Coloring &c) |
| Reads a coloring from the stream. | |
| Geometry::Triangle | outerApprox (const Geometry::Point &vertex, const Geometry::Direction &min, const Geometry::Direction &max, const Geometry::Kernel::FT &radius) |
| Provides a triangular outer approximation to this cone. | |
| Geometry::Point | intersection (const Geometry::Point &p, const Geometry::Direction &d, const Geometry::Segment &s) |
| Computes the intersection of a ray and a segment that are known to intersect. | |
| CGAL::Comparison_result | compare (const Geometry::Direction &a, const Geometry::Direction &b, const Geometry::Direction &min) |
| Compares two directions to see which is closer to a third. | |
| Geometry::Point | intersection (const Geometry::Point &p, const Geometry::Direction &d, const ScanEdgeHandle se) |
| Computes the intersection of a ray and a scan edge that are known to intersect. | |
| bool | cones_intersect (const Geometry::Direction &amin, const Geometry::Direction &amax, const Geometry::Direction &bmin, const Geometry::Direction &bmax) |
| Returns true iff two cones are disjoint. | |
| bool | cone_subset (const Geometry::Direction &amin, const Geometry::Direction &amax, const Geometry::Direction &bmin, const Geometry::Direction &bmax) |
| Returns true one cone is a subset of another. | |
| bool | closer (const Geometry::Point &p, const Geometry::Direction &dir, ScanEdgeHandle a, ScanEdgeHandle b) |
| Returns true if two scan edges, known to overlap a given ray, are ordered by depth. | |
| template<class OutputIterator> void | coneTrace (const Coloring &coloring, const Geometry::Point &vertex, const Geometry::Direction &min, const Geometry::Direction &max, const Geometry::Kernel::FT &radius, const Geometry::Triangle &filter, OutputIterator out) |
| Computes all edges of a coloring that are visible in a cone. | |
| template<class OutputIterator> void | coneTrace (const Coloring &coloring, const Geometry::Point &vertex, const Geometry::Direction &min, const Geometry::Direction &max, const Geometry::Kernel::FT &radius, OutputIterator out) |
| Computes all edges of a coloring that are visible in a cone. | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, PointSetColorEstimator &p) |
| Renders a graphical representation of the point set color estimator using the supplied widget. | |
| template<typename charT, typename traits> std::basic_ostream< charT, traits > & | operator<< (std::basic_ostream< charT, traits > &out, const PointSetColorEstimator &p) |
| Writes an ASCII representation of the current estimates to the supplied stream. | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, GridColorEstimator &p) |
| Renders a graphical representation of the grid color estimator using the supplied widget. | |
| template<typename charT, typename traits> std::basic_ostream< charT, traits > & | operator<< (std::basic_ostream< charT, traits > &out, const GridColorEstimator &p) |
| Writes an ASCII representation of the current estimates to the supplied stream. | |
| Color | opposite (Color c) |
| Computes the opposite of a color. | |
| template<typename charT, typename traits> std::basic_istream< charT, traits > & | skipline (std::basic_istream< charT, traits > &in) |
| An input stream manipulator that reads off everything up to (and including) the next newline. | |
| template<typename charT, typename traits> std::basic_istream< charT, traits > & | skipcomments (std::basic_istream< charT, traits > &in) |
| An input stream manipulator that reads #-style comments off of an input stream (if any exist). | |
| double | ln (double x) |
| Computes the natural logarithm of x. | |
| QApplication * | InitGui (int argc, char **argv, int width, int height, Coloring &c, ArakProcess &p, GridColorEstimator &e, QMutex &mutex, bool toolbar=true, double refreshRateHz=2.0) |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, ArakPosteriorGaussianObs &p) |
| Renders a graphical representation of an Arak posterior using the supplied widget. | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, ArakPosteriorBernoulliObs &p) |
| Renders a graphical representation of an Arak posterior using the supplied widget. | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, ArakPosteriorRangeObs &p) |
| Renders a graphical representation of an Arak posterior using the supplied widget. | |
| void | computeSonarImpacts (const Coloring &coloring, const Geometry::Point &vertex, const Geometry::Direction &min, const Geometry::Direction &max, const Geometry::Kernel::FT maxRange, std::vector< SonarImpact > &impacts, double *maxImpactRange=NULL) |
| Uses conic ray tracing to compute the sonar impacts associated with a given coloring and sonar cone. | |
| bool | computeFirstSonarImpact (const Coloring &coloring, const Geometry::Point &vertex, const Geometry::Direction &min, const Geometry::Direction &max, const Geometry::Kernel::FT maxRange, SonarImpact &impact) |
| Computes the closest sonar impact associated with a given coloring and sonar cone. | |
| CGAL::Qt_widget & | operator<< (CGAL::Qt_widget &widget, ArakPosteriorSonarObs &p) |
| Renders a graphical representation of an Arak posterior using the supplied widget. | |
Variables | |
| const int | jet_size = 64 |
| const unsigned char | jet_rgb [64][3] |
| const CGAL::Color | jet_colors [64] |
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An annealed Metropolis-Hastings Markov chain for obtaining samples from an Arak process.
Definition at line 149 of file coloring_mcmc.hpp. Referenced by sampler(). |
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A Metropolis-Hastings Markov chain for obtaining samples from an Arak process.
Definition at line 143 of file coloring_mcmc.hpp. Referenced by Arak::GridColorEstimator::GridColorEstimator(), Arak::PointColorEstimator::PointColorEstimator(), Arak::PointSetColorEstimator::PointSetColorEstimator(), and sampler(). |
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A stochastic hill climbing Markov chain for optimizing an Arak process.
Definition at line 155 of file coloring_mcmc.hpp. Referenced by sampler(). |
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A list of listeners associated with the same query point.
Definition at line 40 of file query_point.hpp. Referenced by Arak::QueryPoint::QueryPoint(), and Arak::QueryPointIndex::QueryPointIndex(). |
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Definition at line 68 of file cone_tracing.hpp. Referenced by closer(), coneTrace(), intersection(), Arak::ScanEdge::max(), Arak::ScanEdge::min(), and Arak::ScanVertex::ScanVertex(). |
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The possible colors.
Definition at line 31 of file global.hpp. Referenced by Arak::QueryPoint::color(), Arak::Coloring::color(), Arak::GridColorEstimator::GridColorEstimator(), opposite(), Arak::QueryPointIndex::QueryPointIndex(), Arak::Coloring::read(), Arak::Coloring::readBinary(), Arak::Coloring::toTriangulation(), Arak::ArakPosteriorRangeObs::updateObsLP(), Arak::Coloring::write(), and Arak::Coloring::writeBinary(). |
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Returns true if two scan edges, known to overlap a given ray, are ordered by depth.
Definition at line 326 of file cone_tracing.hpp. References Arak::Geometry::Direction, intersection(), Arak::Geometry::Point, and ScanEdgeHandle. Referenced by coneTrace(). |
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Compares two directions to see which is closer to a third.
Definition at line 208 of file cone_tracing.hpp. References Arak::Geometry::Direction. Referenced by Arak::ScanVertexComparator::operator()(). |
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Computes the closest sonar impact associated with a given coloring and sonar cone.
Definition at line 137 of file sonar_obs.cpp. References coloring, cones_intersect(), Arak::Geometry::Direction, Arak::SonarImpact::dmax, Arak::ScanEdge::dmax, Arak::SonarImpact::dmin, Arak::ScanEdge::dmin, Arak::Coloring::getInteriorEdgeIndex(), Arak::ScanEdge::init(), Arak::Coloring::InteriorEdgeIndex, Arak::SonarImpact::min_range, outerApprox(), Arak::SonarImpact::pmax, Arak::ScanEdge::pmax, Arak::SonarImpact::pmin, Arak::ScanEdge::pmin, Arak::Geometry::Point, Arak::SonarImpact::projection, Arak::Geometry::Triangle, and Arak::SonarImpact::visible_angle. Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(). |
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Uses conic ray tracing to compute the sonar impacts associated with a given coloring and sonar cone.
Definition at line 101 of file sonar_obs.cpp. References coloring, coneTrace(), Arak::Geometry::Direction, and Arak::Geometry::Point. Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(). |
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Returns true one cone is a subset of another.
Definition at line 305 of file cone_tracing.hpp. References Arak::Geometry::Direction. Referenced by coneTrace(). |
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Returns true iff two cones are disjoint.
Definition at line 284 of file cone_tracing.hpp. References Arak::Geometry::Direction. Referenced by computeFirstSonarImpact(), and coneTrace(). |
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Computes all edges of a coloring that are visible in a cone.
Definition at line 560 of file cone_tracing.hpp. References coloring, coneTrace(), Arak::Geometry::Direction, outerApprox(), Arak::Geometry::Point, and Arak::Geometry::Triangle. |
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Computes all edges of a coloring that are visible in a cone.
Definition at line 409 of file cone_tracing.hpp. References Arak::Geometry::boundingRectangle(), closer(), coloring, cone_subset(), cones_intersect(), Arak::Geometry::Direction, Arak::ScanEvent::dmax, Arak::ScanEvent::dmin, Arak::ScanEvent::edge, Arak::Coloring::getInteriorEdgeIndex(), Arak::ScanEdge::init(), Arak::Coloring::IntEdgeHandle, Arak::Coloring::InteriorEdgeIndex, intersection(), Arak::ScanEvent::pmax, Arak::ScanEvent::pmin, Arak::Geometry::Point, Arak::Geometry::Rectangle, ScanEdgeHandle, Arak::Geometry::Triangle, and PointerHandle< T >::valid(). Referenced by computeSonarImpacts(), and coneTrace(). |
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Definition at line 14 of file gui.cpp. References Arak::Coloring::boundary(), and Arak::ColoringQTLayer::draw(). Referenced by sampler(). |
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Computes the intersection of a ray and a scan edge that are known to intersect.
Definition at line 267 of file cone_tracing.hpp. References Arak::Geometry::Direction, intersection(), Arak::Geometry::Point, and ScanEdgeHandle. |
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Computes the intersection of a ray and a segment that are known to intersect.
Definition at line 54 of file cone_tracing.hpp. References Arak::Geometry::Direction, Arak::Geometry::Line, Arak::Geometry::Point, and Arak::Geometry::Segment. Referenced by closer(), coneTrace(), Arak::ScanEdge::init(), intersection(), Arak::Grid< ItemType >::LineCellIteratorBase< GridType, CellType >::LineCellIteratorBase(), and Arak::Coloring::trace(). |
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Computes the natural logarithm of x. If x is zero, this returns negative infinity (-std::numeric_limits<double>::infinity()); if x is negative, an error is signalled. Definition at line 105 of file global.hpp. Referenced by Arak::AnnealedMarkovChain< MarkovChainTraits >::AnnealedMarkovChain(), Arak::ArakPosteriorBernoulliObs::ArakPosteriorBernoulliObs(), Arak::ArakPrior::edgeHasBeenAdded(), Arak::ArakPrior::edgeWillBeRemoved(), Arak::ModifiedCN94Proposal::ll(), Arak::CN94Proposal::ll(), Arak::ArakPrior::logMeasure(), Arak::Geometry::logSineB(), Arak::ModifiedCN94Proposal::rll(), Arak::CN94Proposal::rll(), Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorRangeObs::updateObsLP(). |
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Renders a graphical representation of an Arak posterior using the supplied widget. The sonar measurments are rendered as line segments.
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Renders a graphical representation of an Arak posterior using the supplied widget. The range measurments are rendered as line segments.
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Renders a graphical representation of an Arak posterior using the supplied widget. The Bernoulli observations are rendered as disks of varying gray level.
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Renders a graphical representation of an Arak posterior using the supplied widget. The Gaussian observations are rendered as disks of varying gray level.
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Writes an ASCII representation of the current estimates to the supplied stream.
Definition at line 442 of file estimation.hpp. |
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Renders a graphical representation of the grid color estimator using the supplied widget. The point color estimates are rendered as disks of varying gray level.
Definition at line 426 of file estimation.hpp. References Arak::GridColorEstimator::visualize(). |
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Writes an ASCII representation of the current estimates to the supplied stream.
Definition at line 277 of file estimation.hpp. |
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Renders a graphical representation of the point set color estimator using the supplied widget. The point color estimates are rendered as disks of varying gray level.
Definition at line 261 of file estimation.hpp. References Arak::PointSetColorEstimator::visualize(). |
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Writes a text representation of the coloring to the stream.
Definition at line 1918 of file coloring.hpp. References Arak::Coloring::write(). |
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Renders a graphical representation of an Arak process using the supplied widget.
Definition at line 156 of file arak.hpp. References Arak::ArakProcess::visualize(). |
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Reads a coloring from the stream.
Definition at line 1930 of file coloring.hpp. References Arak::Coloring::read(). |
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Computes the opposite of a color.
Definition at line 40 of file global.hpp. References BLACK, Color, and WHITE. Referenced by Arak::Coloring::color(), Arak::Coloring::read(), Arak::Coloring::readBinary(), Arak::QueryPoint::recolor(), Arak::GridColorEstimator::recolored(), Arak::QueryPoint::setColor(), and Arak::Coloring::toTriangulation(). |
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Provides a triangular outer approximation to this cone.
Definition at line 16 of file cone_tracing.hpp. References Arak::Geometry::Direction, Arak::Geometry::Point, and Arak::Geometry::Triangle. Referenced by computeFirstSonarImpact(), coneTrace(), Arak::OccupancyGrid::sonar(), and Arak::ArakPosteriorSonarObs::updateObsLP(). |
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An input stream manipulator that reads #-style comments off of an input stream (if any exist).
A #-style comment starts with the character '#' and continues to the next newline (' Example usage:
Definition at line 90 of file global.hpp. References skipline(). Referenced by Arak::OccupancyGrid::OccupancyGrid(), Arak::Util::operator>>(), and Arak::Coloring::read(). |
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An input stream manipulator that reads off everything up to (and including) the next newline. Example usage:
Definition at line 65 of file global.hpp. Referenced by skipcomments(). |
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Definition at line 70 of file jet.cpp. Referenced by Arak::ArakPosteriorSonarObs::visualize(), and Arak::ArakPosteriorRangeObs::visualize(). |
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Definition at line 8 of file jet.hpp. Referenced by Arak::ArakPosteriorSonarObs::visualize(), and Arak::ArakPosteriorRangeObs::visualize(). |
1.3.6