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WorldModel2.h File Reference

#include <vector>
#include <deque>
#include <math.h>
#include "Events/EventListener.h"
#include "WorldModel2/FastSLAM/Configuration.h"
#include "WorldModel2/FastSLAM/afsParticle.h"
#include "WorldModel2/Maps/almStructures.h"
#include "Shared/Serializer.h"
#include "Wireless/Wireless.h"

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Namespaces

namespace  WM2Kludge

Compounds

struct  _FastSLAM_update
struct  MotionRequest
 Structure for containing motion requests. More...

class  WorldModel2
 Tekkotsu's localization and mapping system (IN ACTIVE DEVELOPMENT). More...


Typedefs

typedef _FastSLAM_update FastSLAM_update
typedef std::vector< MotionRequestMRvector
 A vector for motion requests.

typedef std::deque< FastSLAM_updateFSUdeque
 A deque for FastSLAM updates.


Functions

bool aiboIsErect ()
bool aiboStaresDeadAhead ()
bool aiboIsLevelHeaded ()


Typedef Documentation

typedef struct _FastSLAM_update FastSLAM_update
 

Structure for keeping track of FastSLAM system updates for eventual evaluation. See the documentation on the LazyFastSLAM kludge to see why we need to keep this data around at times.

typedef std::deque<FastSLAM_update> FSUdeque
 

A deque for FastSLAM updates.

Definition at line 104 of file WorldModel2.h.

typedef std::vector<MotionRequest> MRvector
 

A vector for motion requests.

Definition at line 101 of file WorldModel2.h.


Function Documentation

bool aiboIsErect  ) 
 

Determine whether Aibo is in an erect stature, allowing us to do measurements. TODO: replace with a real motion model

Definition at line 682 of file WorldModel2.cc.

References ERS210Info::ElevatorOffset, ERS210Info::KneeOffset, ERS210Info::LBkLegOffset, ERS210Info::LFrLegOffset, WorldState::outputs, ERS210Info::RBkLegOffset, ERS210Info::RFrLegOffset, ERS210Info::RotatorOffset, SP_LFR_JOINT, SP_LFR_KNEE, SP_LFR_SHLDR, SP_RFR_JOINT, SP_RFR_KNEE, SP_RFR_SHLDR, SP_TOLERANCE, and state.

bool aiboIsLevelHeaded  ) 
 

Determine whether Aibo is keeping its head level (i.e. no tilt or roll). Needed for FastSLAM at the moment.

Definition at line 735 of file WorldModel2.cc.

References DA_ROLL, DA_TILT, DA_TOLERANCE, ERS210Info::HeadOffset, WorldState::outputs, ERS210Info::RollOffset, state, and ERS210Info::TiltOffset.

bool aiboStaresDeadAhead  ) 
 

Determine whether Aibo is looking dead ahead. Needed for ground plane assumption, for the moment.

Definition at line 719 of file WorldModel2.cc.

References DA_PAN, DA_ROLL, DA_TILT, DA_TOLERANCE, ERS210Info::HeadOffset, WorldState::outputs, ERS210Info::PanOffset, ERS210Info::RollOffset, state, and ERS210Info::TiltOffset.


Tekkotsu v1.4
Generated Sat Jul 19 00:08:42 2003 by Doxygen 1.3.2