Arak::ArakPosteriorRangeObs::RangeObs Class Reference

#include <range_obs.hpp>

Inheritance diagram for Arak::ArakPosteriorRangeObs::RangeObs:

[legend]Collaboration diagram for Arak::ArakPosteriorRangeObs::RangeObs:

[legend]List of all members.

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Detailed Description

A range observation.

Todo:

this should be a laser scan, with laser observations inside. right now we're doing 180 times the work to check that the source of each ray is colored white.

Definition at line 41 of file range_obs.hpp.

Public Types
typedef RangeObsIndex::Cell::Entry	CellEntry
	An entry of an observation in the index.
typedef std::list< CellEntry >	CellEntryList
	A list of cell entries.
Public Member Functions
	RangeObs (const Geometry::Point &source, const Geometry::Point &target, const double maxRange)
	Default constructor.
virtual	~RangeObs ()
	Destructor.
virtual void	recolor (Color color)
	Reacts to information that the query point has been recolored.
Public Attributes
Geometry::Point	source
	The location from which the range measurement was taken.
Geometry::Point	target
	The point obtained by back-projecting the range measurement.
Geometry::Point	max
	The point obtained by back-projecting the max range measurement.
double	range
	The range measurement.
bool	isMaxRange
	True if the sensor returned its max-range measurement.
Color	sourceColor
	The current color of the source.
Geometry::Point	curContact
	The contact point of this observation (or the max range point) in the current coloring.
double	curRange
	The distance from the source to the current contact point.
double	lp
	The current log probability of this observation.
CellEntryList	entries
	A list of cell entries in which this observation is stored.
CellEntryList	unused
	A list of unused cell entries, used to minimize memory allocation overhead.
unsigned long int	updateId
	The sequence number of the last update to this observation.

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Member Typedef Documentation

typedef RangeObsIndex::Cell::Entry Arak::ArakPosteriorRangeObs::RangeObs::CellEntry

An entry of an observation in the index. Definition at line 94 of file range_obs.hpp.

typedef std::list<CellEntry> Arak::ArakPosteriorRangeObs::RangeObs::CellEntryList

A list of cell entries. Definition at line 99 of file range_obs.hpp.

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Constructor & Destructor Documentation

ArakPosteriorRangeObs::RangeObs::RangeObs (  const Geometry::Point &  source, const Geometry::Point &  target, const double  maxRange )

Default constructor. Definition at line 83 of file range_obs.cpp. References curContact, curRange, isMaxRange, max, maxRange, Arak::Geometry::Point, range, updateId, and Arak::Geometry::Vector.

virtual Arak::ArakPosteriorRangeObs::RangeObs::~RangeObs (   )  [inline, virtual]

Destructor. Definition at line 127 of file range_obs.hpp.

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Member Function Documentation

virtual void Arak::ArakPosteriorRangeObs::RangeObs::recolor (  Color  color  )  [inline, virtual]

Reacts to information that the query point has been recolored. Parameters: color  the query point's new color Implements Arak::QueryPointListener. Definition at line 134 of file range_obs.hpp. References sourceColor.

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Member Data Documentation

Geometry::Point Arak::ArakPosteriorRangeObs::RangeObs::curContact

The contact point of this observation (or the max range point) in the current coloring. Definition at line 79 of file range_obs.hpp. Referenced by RangeObs(), and Arak::ArakPosteriorRangeObs::retraceObs().

double Arak::ArakPosteriorRangeObs::RangeObs::curRange

The distance from the source to the current contact point. Definition at line 84 of file range_obs.hpp. Referenced by RangeObs(), Arak::ArakPosteriorRangeObs::retraceObs(), and Arak::ArakPosteriorRangeObs::updateObsLP().

CellEntryList Arak::ArakPosteriorRangeObs::RangeObs::entries

A list of cell entries in which this observation is stored. Definition at line 104 of file range_obs.hpp. Referenced by Arak::ArakPosteriorRangeObs::retraceObs().

bool Arak::ArakPosteriorRangeObs::RangeObs::isMaxRange

True if the sensor returned its max-range measurement. Definition at line 68 of file range_obs.hpp. Referenced by RangeObs(), and Arak::ArakPosteriorRangeObs::updateObsLP().

double Arak::ArakPosteriorRangeObs::RangeObs::lp

The current log probability of this observation. Definition at line 89 of file range_obs.hpp. Referenced by Arak::ArakPosteriorRangeObs::updateObsLP(), and Arak::ArakPosteriorRangeObs::visualize().

Geometry::Point Arak::ArakPosteriorRangeObs::RangeObs::max

The point obtained by back-projecting the max range measurement. Definition at line 58 of file range_obs.hpp. Referenced by RangeObs(), and Arak::ArakPosteriorRangeObs::retraceObs().

double Arak::ArakPosteriorRangeObs::RangeObs::range

The range measurement. Definition at line 63 of file range_obs.hpp. Referenced by RangeObs(), and Arak::ArakPosteriorRangeObs::updateObsLP().

Geometry::Point Arak::ArakPosteriorRangeObs::RangeObs::source

The location from which the range measurement was taken. Definition at line 48 of file range_obs.hpp. Referenced by Arak::ArakPosteriorRangeObs::retraceObs(), Arak::ArakPosteriorRangeObs::updateObsLP(), and Arak::ArakPosteriorRangeObs::visualize().

Color Arak::ArakPosteriorRangeObs::RangeObs::sourceColor

The current color of the source. Definition at line 73 of file range_obs.hpp. Referenced by recolor(), and Arak::ArakPosteriorRangeObs::updateObsLP().

Geometry::Point Arak::ArakPosteriorRangeObs::RangeObs::target

The point obtained by back-projecting the range measurement. Definition at line 53 of file range_obs.hpp. Referenced by Arak::ArakPosteriorRangeObs::visualize().

CellEntryList Arak::ArakPosteriorRangeObs::RangeObs::unused

A list of unused cell entries, used to minimize memory allocation overhead. Definition at line 110 of file range_obs.hpp. Referenced by Arak::ArakPosteriorRangeObs::retraceObs().

unsigned long int Arak::ArakPosteriorRangeObs::RangeObs::updateId

The sequence number of the last update to this observation. Definition at line 115 of file range_obs.hpp. Referenced by RangeObs(), and Arak::ArakPosteriorRangeObs::updateObsLP().

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

• range_obs.hpp
• range_obs.cpp

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