MbICP.c File Reference

MbICP scan matcher main implementation code. More...

#include "MbICP.h"
#include "MbICP2.h"
#include "calcul.h"
#include "sp_matrix.h"
#include <stdio.h>
#include <math.h>
#include "percolate.h"

Include dependency graph for MbICP.c:

Go to the source code of this file.

Macros
#define	BIG_INITIAL_ERROR   1000000.0F

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.

Macro Definition Documentation

#define BIG_INITIAL_ERROR   1000000.0F

Definition at line 76 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

int cntAssociationsT

Definition at line 111 of file MbICP.c.

int cntAssociationsTemp

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.

float MAXLASERRANGE

Definition at line 96 of file MbICP.c.

Tsc motion2

Definition at line 121 of file MbICP.c.

int numConverged

static

Definition at line 136 of file MbICP.c.

TSMparams params

Definition at line 103 of file MbICP.c.

Tscan ptosNew

Definition at line 107 of file MbICP.c.

Tscan ptosNoView

Definition at line 118 of file MbICP.c.

Tscan ptosRef

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.