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Arak::ArakPosteriorSonarObs::SonarObs Class Reference

#include <sonar_obs.hpp>

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List of all members.

Detailed Description

A sonar observation.

Definition at line 239 of file sonar_obs.hpp.

Public Types

typedef SonarObsIndex::Cell::Entry CellEntry
 An entry of an observation in the index.

typedef std::list< CellEntry > CellEntryList
 A list of cell entries.


Public Member Functions

 SonarObs (const Geometry::Point &source, const double angle, const double range, const double aperture, const double maxRange)
 Default constructor.

virtual ~SonarObs ()
 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 sonar measurement was taken.

Geometry::Direction min
 The minimum direction of the sonar cone.

Geometry::Direction max
 The maximum direction of the sonar cone.

double range
 The sonar range measurement.

Color sourceColor
 The current color of the source.

double lp
 The current log probability of this observation.

Geometry::Triangle relevantRegion
 A triangular outer approximation to the region to which this observation's likelihood is sensitive.

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.

Member Typedef Documentation

typedef SonarObsIndex::Cell::Entry Arak::ArakPosteriorSonarObs::SonarObs::CellEntry
 

An entry of an observation in the index.

Definition at line 282 of file sonar_obs.hpp.

typedef std::list<CellEntry> Arak::ArakPosteriorSonarObs::SonarObs::CellEntryList
 

A list of cell entries.

Definition at line 287 of file sonar_obs.hpp.

Constructor & Destructor Documentation

ArakPosteriorSonarObs::SonarObs::SonarObs (  const Geometry::Point &  source,
const double  angle,
const double  range,
const double  aperture,
const double  maxRange
) 
 

Default constructor.

Definition at line 276 of file sonar_obs.cpp.

References aperture, Arak::Geometry::Direction, and Arak::Geometry::Point.

virtual Arak::ArakPosteriorSonarObs::SonarObs::~SonarObs (   )  [inline, virtual]
 

Destructor.

Definition at line 317 of file sonar_obs.hpp.

Member Function Documentation

virtual void Arak::ArakPosteriorSonarObs::SonarObs::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 324 of file sonar_obs.hpp.

Member Data Documentation

CellEntryList Arak::ArakPosteriorSonarObs::SonarObs::entries
 

A list of cell entries in which this observation is stored.

Definition at line 292 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP().

double Arak::ArakPosteriorSonarObs::SonarObs::lp
 

The current log probability of this observation.

Definition at line 271 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorSonarObs::visualize().

Geometry::Direction Arak::ArakPosteriorSonarObs::SonarObs::max
 

The maximum direction of the sonar cone.

Definition at line 256 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorSonarObs::visualize().

Geometry::Direction Arak::ArakPosteriorSonarObs::SonarObs::min
 

The minimum direction of the sonar cone.

Definition at line 251 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorSonarObs::visualize().

double Arak::ArakPosteriorSonarObs::SonarObs::range
 

The sonar range measurement.

Definition at line 261 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorSonarObs::visualize().

Geometry::Triangle Arak::ArakPosteriorSonarObs::SonarObs::relevantRegion
 

A triangular outer approximation to the region to which this observation's likelihood is sensitive.

Definition at line 277 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP().

Geometry::Point Arak::ArakPosteriorSonarObs::SonarObs::source
 

The location from which the sonar measurement was taken.

Definition at line 246 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP(), and Arak::ArakPosteriorSonarObs::visualize().

Color Arak::ArakPosteriorSonarObs::SonarObs::sourceColor
 

The current color of the source.

Definition at line 266 of file sonar_obs.hpp.

CellEntryList Arak::ArakPosteriorSonarObs::SonarObs::unused
 

A list of unused cell entries, used to minimize memory allocation overhead.

Definition at line 298 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP().

unsigned long int Arak::ArakPosteriorSonarObs::SonarObs::updateId
 

The sequence number of the last update to this observation.

Definition at line 303 of file sonar_obs.hpp.

Referenced by Arak::ArakPosteriorSonarObs::updateObsLP().

The documentation for this class was generated from the following files:
Generated on Wed May 25 14:41:37 2005 for Arak by doxygen 1.3.6