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ALM Class Reference

#include <almMain.h>

List of all members.

Static Public Member Functions

void init (void)
void move (double dx, double dy, double da, unsigned int time)
void registerDepth (double depth, double tilt, double pan)
void registerDepth (double depth, double tilt, double pan, unsigned int kludges)
void registerGround ()
void stampHM (afsPose &pose)
void dumpDM (dmPicker &p, std::ostream &out)
void dumpHM (hmPicker &p, std::ostream &out)

Static Private Member Functions

void nukeAndPaveCurrentMap (void)
void genRequests (MRvector &requests)
dm_cell * getDM ()
hm_cell * getHM ()

Friends

class WorldModel2

Member Function Documentation

void ALM::dumpDM (  dmPicker &  p,
std::ostream &  out
)  [static]
 

Definition at line 680 of file almMain.cc.

References ALM_DM_H_SIZE, ALM_DM_V_SIZE, and DM.

void ALM::dumpHM (  hmPicker &  p,
std::ostream &  out
)  [static]
 

Definition at line 690 of file almMain.cc.

References ALM_HM_SIZE, and HM.

void ALM::genRequests (  MRvector &  requests  )  [static, private]
 

Definition at line 520 of file almMain.cc.

References ALM_DM_BOTTOM, ALM_DM_LEFT, ALM_DM_NUMCLUSTERS, ALM_DM_RIGHT, ALM_DM_TOP, ALM_HM_NUMCLUSTERS, ALM_HM_RADIUS, ALM_HM_SIZE, AM_KMEANS_ITERATIONS, MotionRequest::azalt, _hm_cell::cluster, _dm_cell::cluster, _hm_cell::confidence, _dm_cell::confidence, DM, DM_CELL_COUNT, dm_index2angles(), HM, HM_CELL_COUNT, hm_index2xy(), MotionRequest::LOOK_AT, MotionRequest::LOOK_DOWN_AT, MRvector, MotionRequest::type, and MotionRequest::xy.

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dm_cell * ALM::getDM (   )  [static, private]
 

Definition at line 704 of file almMain.cc.

References DM, and dm_cell.

hm_cell * ALM::getHM (   )  [static, private]
 

Definition at line 705 of file almMain.cc.

References HM, and hm_cell.

void ALM::init (  void   )  [static]
 

Definition at line 60 of file almMain.cc.

References DM, DMs, HM, HMs, and nukeAndPaveCurrentMap().

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void ALM::move (  double  dx,
double  dy,
double  da,
unsigned int  time
)  [static]
 

Definition at line 76 of file almMain.cc.

References ALM_DM_TAX, ALM_HM_TAX, angles2dm_index(), _dm_cell::confidence, _hm_cell::confidence, da, _dm_cell::depth, DM, dm_cell, DM_CELL_COUNT, dm_index2angles(), DMs, dx, HM, hm_cell, HM_CELL_COUNT, hm_index2xy(), HMs, IROORDIST, neck_range2xyz(), nukeAndPaveCurrentMap(), time, WalkMotionModel(), xy2hm_index(), and xyz2neck_range().

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void ALM::nukeAndPaveCurrentMap (  void   )  [static, private]
 

Definition at line 205 of file almMain.cc.

References AIBO_TILT_PIVOT_HEIGHT, _hm_cell::color, _dm_cell::color, COLOR_BLUE, COLOR_GREEN, _hm_cell::confidence, _dm_cell::confidence, _dm_cell::depth, DM, dm_cell, DM_CELL_COUNT, dm_index2angles(), _hm_cell::height, HM, hm_cell, HM_CELL_COUNT, IROORDIST, and _hm_cell::trav.

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void ALM::registerDepth (  double  depth,
double  tilt,
double  pan,
unsigned int  kludges
)  [static]
 

Definition at line 267 of file almMain.cc.

References AIBO_IR_CAL_MULTIPLIER, AIBO_IR_CAL_OFFSET, AIBO_MAX_BUMP, AIBO_MIN_CLEARANCE, ALM_DM_H_SIZE, ALM_IR_SPLAT_STDDEV, angles2dm_index(), _hm_cell::color, _dm_cell::color, COLOR_GREEN, colortype, _hm_cell::confidence, _dm_cell::confidence, _dm_cell::depth, DM, DM_CELL_COUNT, dm_index2angles(), dx, head_range2xyz(), _hm_cell::height, Vision::height, HM, IROORDIST, neck_range2xyz(), Vision::num_runs, Vision::rmap, SQRT_2_PI, _hm_cell::trav, vision, Vision::width, xy2hm_index(), and xyz2neck_range().

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void ALM::registerDepth (  double  depth,
double  tilt,
double  pan
)  [static]
 

Definition at line 259 of file almMain.cc.

void ALM::registerGround (   )  [static]
 

Definition at line 404 of file almMain.cc.

References AIBO_CAM_H_FOV, AIBO_CAM_V_FOV, AIBO_NECK_HEIGHT, AIBO_TILT_PIVOT_HEIGHT, ALM_GPA_CONFIDENCE, angles2dm_index(), _dm_cell::color, _hm_cell::color, COLOR_GREEN, _dm_cell::confidence, _hm_cell::confidence, _dm_cell::depth, DM, dm_cell, dx, _hm_cell::height, Vision::height, HM, hm_cell, Vision::num_runs, Vision::rmap, _hm_cell::trav, vision, Vision::width, xy2hm_index(), and xyz2neck_range().

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void ALM::stampHM (  afsPose &  pose  )  [static]
 

Definition at line 488 of file almMain.cc.

References afsPose, ALM_HM_RADIUS, AGM::carryOver(), HM, HM_CELL_COUNT, hm_index2xy(), _afsPose::theta, _afsPose::x, and _afsPose::y.

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Friends And Related Function Documentation

friend class WorldModel2 [friend]
 

Definition at line 24 of file almMain.h.

The documentation for this class was generated from the following files:
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