mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/mtt

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00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00032 #ifndef _MTT_KALMAN_H_
00033 #define _MTT_KALMAN_H_
00034 
00035 #include "mtt_common.h"
00036 
00037 extern void SetSearchArea(t_list& list,t_config&config);
00038 extern void AddPointPath(t_path*path,double x,double y);
00039 // void MotionModelsIteration(t_list*list,t_config*config);
00040 void MotionModelsIteration(vector<t_listPtr> &list,t_config& config);
00041 
00042 void GetErrorConvariance(t_errors*error);
00043 void AllocMotionModels(t_list&list,t_config&config);
00044 extern int real2print(double x,t_config*config);
00045 extern double point2line_distance(double alpha,double ro,double x,double y);
00046 
00047 void UpdateTransitionMatrixCTRV(CvKalman*model,double /*x*/,double /*y*/,double t,double v,double w,double dt);
00048 void UpdateTransitionMatrixCV(CvKalman*model,double dt);
00049 void UpdateTransitionMatrixCV_SC(CvKalman*model,double dt);
00050 
00051 void IterateMotionModelCTRV(CvKalman*model,double vm,double wm);
00052 void IterateMotionModelCV(CvKalman*model,double vxm,double vym);
00053 double IterateMotionModelCV_SC(CvKalman*model,double vm);
00054 
00055 CvKalman*CreateModelCTRV(void);
00056 CvKalman*CreateModelCV(void);
00057 CvKalman*CreateModelCV_SC(void);
00058 
00059 extern double s[6];
00060 extern double vel,theta;
00061 extern int select_object;
00062 extern FILE*fp;
00063 extern double grxy;
00064 void dA_FwdCt(CvKalman*model,double q[6],double dt,double l=2.54);
00065 void dH_FwdCt(CvKalman*model);
00066 void IterateMotionModelFwdCt(CvKalman*model,double z[2]);
00067 CvKalman*CreateModelFwdCt(void);
00068 
00069 #endif
/home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/mtt_kalman.h
