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#include "WorldModel2.h"
#include <cmath>
#include <vector>
#include <deque>
#include "Events/EventRouter.h"
#include "Events/VisionEvent.h"
#include "Events/LocomotionEvent.h"
#include "Shared/WorldState.h"
#include "Vision/Vision.h"
#include "Wireless/Wireless.h"
#include "FastSLAM/afsMain.h"
#include "Maps/almMain.h"
#include "Maps/agmMain.h"
#include "Maps/almStructures.h"
#include "FastSLAM/Configuration.h"
#include "FastSLAM/afsParticle.h"
#include "Maps/Configuration.h"
#include "Poses.h"
#include "Shared/get_time.h"
Include dependency graph for WorldModel2.cc:
Go to the source code of this file.
Defines | |
#define | UNLESS(item) if(!( (item) )) |
#define | TIMER_SID_GPA 0 |
#define | TIMER_SID_SRL 1 |
Functions | |
bool | aiboIsErect () |
bool | aiboStaresDeadAhead () |
bool | aiboIsLevelHeaded () |
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Definition at line 53 of file WorldModel2.cc. |
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Definition at line 54 of file WorldModel2.cc. |
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Definition at line 47 of file WorldModel2.cc. |
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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. |
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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. |
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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. |
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