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#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"
Include dependency graph for WorldModel2.h:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
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< MotionRequest > | MRvector |
A vector for motion requests. | |
typedef std::deque< FastSLAM_update > | FSUdeque |
A deque for FastSLAM updates. | |
Functions | |
bool | aiboIsErect () |
bool | aiboStaresDeadAhead () |
bool | aiboIsLevelHeaded () |
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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. |
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A deque for FastSLAM updates.
Definition at line 104 of file WorldModel2.h. |
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A vector for motion requests.
Definition at line 101 of file WorldModel2.h. |
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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. |
Tekkotsu v1.4 |
Generated Sat Jul 19 00:08:42 2003 by Doxygen 1.3.2 |