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WorldModel2.cc File Reference

#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 "Shared/Config.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:

Include dependency graph

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 ()

Define Documentation

#define TIMER_SID_GPA   0
 

Definition at line 54 of file WorldModel2.cc.

#define TIMER_SID_SRL   1
 

Definition at line 55 of file WorldModel2.cc.

#define UNLESS (  item   )     if(!( (item) ))
 

Definition at line 48 of file WorldModel2.cc.

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 681 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 734 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 718 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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