/home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/mtt_auxiliar.h File Reference

Auxiliary functions header for the mtt tracking. More...

#include "mtt_common.h"

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Defines
#define	mtic   my_tictoc(1)
#define	mtoc   my_tictoc(0)
#define	TIC   1
#define	TOC   0
Functions
void	ConvertEstimatedToMeasurment (double vl, double dir, float *dx, float *dy, float *dtheta, double dt, double l, double bwa)
void	CreateMeasurementFromDisplacement (double dx, double dy, double dtheta, double z[2], double dt, double l, double bwa)
double	get_fps (double dt, t_fps *acc)
void	init_config (t_config *config)
	Init configuration.
void	init_flags (t_flag *flags)
	Init flags.
int	my_tictoc (int status)
	TIC TOC implementation functions.
double	point2line_distance (double alpha, double ro, double x, double y)
	Calculates the line to point distance.
double	point2point_algebric_distance (double xi, double yi, double xf, double yf)
	Calculates the algebric distante between two points.
double	point2point_distance (double xi, double yi, double xf, double yf)
	Calculates the distante between two points.
int	timediff (struct timeval t1, struct timeval t2)
	Calculates timediff.

---

Detailed Description

Auxiliary functions header for the mtt tracking.

Definition in file mtt_auxiliar.h.

---

Define Documentation

#define mtic   my_tictoc(1)

Definition at line 35 of file mtt_auxiliar.h.

#define mtoc   my_tictoc(0)

Definition at line 36 of file mtt_auxiliar.h.

#define TIC   1

Definition at line 37 of file mtt_auxiliar.h.

#define TOC   0

Definition at line 38 of file mtt_auxiliar.h.

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Function Documentation

void ConvertEstimatedToMeasurment	(	double	vl,
		double	dir,
		float *	dx,
		float *	dy,
		float *	dtheta,
		double	dt,
		double	l,
		double	bwa
	)

void CreateMeasurementFromDisplacement	(	double	dx,
		double	dy,
		double	dtheta,
		double	z[2],
		double	dt,
		double	l,
		double	bwa
	)

double get_fps	(	double	dt,
		t_fps *	acc
	)

Definition at line 115 of file mtt_auxiliar.cpp.

void init_config

(

t_config *

config

)

Init configuration.

Parameters:

config

general configuration structure

Returns:

void

Definition at line 34 of file mtt_auxiliar.cpp.

void init_flags

(

t_flag *

flags

)

Init flags.

Parameters:

flags

general flags structure

Returns:

void

Definition at line 109 of file mtt_auxiliar.cpp.

int my_tictoc

(

int

status

)

TIC TOC implementation functions.

Parameters:

status

TIC or TOC

Returns:

timediff in useconds if TOC, 0 if TIC, -1 if unknown

Definition at line 148 of file mtt_auxiliar.cpp.

double point2line_distance	(	double	alpha,
		double	ro,
		double	x,
		double	y
	)

Calculates the line to point distance.

Parameters:

	alpha	polar coordinates of the line
	ro	polar coordinates of the line
	x	cartesian coordinates of the point
	y

Returns:

algebric distance

Definition at line 65 of file line_fitting.cpp.

double point2point_algebric_distance	(	double	xi,
		double	yi,
		double	xf,
		double	yf
	)

Calculates the algebric distante between two points.

Parameters:

	xi
	yi
	xf
	yf

Returns:

algebric distance

Definition at line 174 of file mtt_auxiliar.cpp.

double point2point_distance	(	double	xi,
		double	yi,
		double	xf,
		double	yf
	)

Calculates the distante between two points.

Parameters:

	xi
	yi
	xf
	yf

Returns:

distance

Definition at line 62 of file line_fitting.cpp.

int timediff	(	struct timeval	t1,
		struct timeval	t2
	)

Calculates timediff.

Parameters:

	t1	first time
	t2	second time

Returns:

timediff in useconds

Definition at line 166 of file mtt_auxiliar.cpp.