mtt_auxiliar.h File Reference

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

#include "mtt_common.h"

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Macros
#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. More...
void	init_flags (t_flag *flags)
	Init flags. More...
int	my_tictoc (int status)
	TIC TOC implementation functions. More...
double	point2line_distance (double alpha, double ro, double x, double y)
	Calculates the line to point distance. More...
double	point2point_algebric_distance (double xi, double yi, double xf, double yf)
	Calculates the algebric distante between two points. More...
double	point2point_distance (double xi, double yi, double xf, double yf)
	Calculates the distante between two points. More...
int	timediff (struct timeval t1, struct timeval t2)
	Calculates timediff. More...

Detailed Description

Auxiliary functions header for the mtt tracking.

Definition in file mtt_auxiliar.h.

Macro Definition 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.

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 66 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 63 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.