/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>
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#define BIG_INITIAL_ERROR   1000000.0F
#define M_PI   3.14159265358979323846


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)


int cntAssociationsT
int cntAssociationsTemp
TAsoc cp_associations [MAXLASERPOINTS]
TAsoc cp_associationsTemp [MAXLASERPOINTS]
static float distref [MAXLASERPOINTS]
static float error_k1
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 Documentation

#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.

Function Documentation

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 

Definition at line 168 of file MbICP.c.

int MbICPmatcher ( Tpfp laserK,
Tpfp laserK1,
Tsc sensorMotion,
Tsc solution 

Definition at line 208 of file MbICP.c.

static int MStep ( Tsc solucion  )  [static]

Definition at line 464 of file MbICP.c.

static void preProcessingLib ( Tpfp laserK,
Tpfp laserK1,
Tsc initialMotion 
) [static]

Definition at line 659 of file MbICP.c.

Variable Documentation

Definition at line 111 of file MbICP.c.

Definition at line 115 of file MbICP.c.

TAsoc cp_associations[MAXLASERPOINTS]

Definition at line 110 of file MbICP.c.

TAsoc cp_associationsTemp[MAXLASERPOINTS]

Definition at line 114 of file MbICP.c.

float distref[MAXLASERPOINTS] [static]

Definition at line 130 of file MbICP.c.

float error_k1 [static]

Definition at line 135 of file MbICP.c.

Definition at line 96 of file MbICP.c.

Definition at line 121 of file MbICP.c.

int numConverged [static]

Definition at line 136 of file MbICP.c.

Definition at line 103 of file MbICP.c.

Definition at line 107 of file MbICP.c.

Definition at line 118 of file MbICP.c.

Definition at line 106 of file MbICP.c.

float refdqx[MAXLASERPOINTS] [static]

Definition at line 126 of file MbICP.c.

float refdqx2[MAXLASERPOINTS] [static]

Definition at line 127 of file MbICP.c.

float refdqxdqy[MAXLASERPOINTS] [static]

Definition at line 131 of file MbICP.c.

float refdqy[MAXLASERPOINTS] [static]

Definition at line 128 of file MbICP.c.

float refdqy2[MAXLASERPOINTS] [static]

Definition at line 129 of file MbICP.c.

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Author(s): Jorge Almeida
autogenerated on Wed Jul 23 04:34:38 2014