/home/laradmin/lar/perception/lidar_egomotion/src/mbicp/MbICP.c File Reference

MbICP scan matcher main implementation code. More...

#include "MbICP.h"
#include "TData.h"
#include <stdlib.h>
#include "MbICP2.h"
#include "calcul.h"
#include <stdio.h>
#include <math.h>

Include dependency graph for MbICP.c:

This graph shows which files directly or indirectly include this file:

Defines
#define	BIG_INITIAL_ERROR 1000000.0F
#define	M_PI 3.14159265358979323846
Functions
static int	computeMatrixLMSOpt (TAsoc cp_ass, int cnt, Tsc estimacion)
static int	EStep ()
void	Init_MbICP_ScanMatching (float max_laser_range, float Bw, float Br, float L, int laserStep, float MaxDistInter, float filter, int ProjectionFilter, float AsocError, int MaxIter, float error_ratio, float error_x, float error_y, float error_t, int IterSmoothConv)
int	MbICPmatcher (Tpfp laserK, Tpfp laserK1, Tsc sensorMotion, Tsc solution)
static int	MStep (Tsc *solucion)
static void	preProcessingLib (Tpfp laserK, Tpfp laserK1, Tsc *initialMotion)
Variables
int	cntAssociationsT
int	cntAssociationsTemp
TAsoc	cp_associations [MAXLASERPOINTS]
TAsoc	cp_associationsTemp [MAXLASERPOINTS]
static float	distref [MAXLASERPOINTS]
static float	error_k1
float	MAXLASERRANGE
Tsc	motion2
static int	numConverged
TSMparams	params
Tscan	ptosNew
Tscan	ptosNoView
Tscan	ptosRef
static float	refdqx [MAXLASERPOINTS]
static float	refdqx2 [MAXLASERPOINTS]
static float	refdqxdqy [MAXLASERPOINTS]
static float	refdqy [MAXLASERPOINTS]
static float	refdqy2 [MAXLASERPOINTS]

Detailed Description

MbICP scan matcher main implementation code.

Definition in file MbICP.c.

#define BIG_INITIAL_ERROR 1000000.0F

Definition at line 76 of file MbICP.c.

#define M_PI 3.14159265358979323846

Definition at line 72 of file MbICP.c.

static int computeMatrixLMSOpt	(	TAsoc *	cp_ass,
		int	cnt,
		Tsc *	estimacion
	)			`[static]`

Definition at line 571 of file MbICP.c.

static int EStep ( ) [static]

Definition at line 252 of file MbICP.c.

void Init_MbICP_ScanMatching	(	float	max_laser_range,
		float	Bw,
		float	Br,
		float	L,
		int	laserStep,
		float	MaxDistInter,
		float	filter,
		int	ProjectionFilter,
		float	AsocError,
		int	MaxIter,
		float	error_ratio,
		float	error_x,
		float	error_y,
		float	error_t,
		int	IterSmoothConv
	)