class PosEstimator

Grid Method

継承:


public メンバ関数
[more]void setupError(Flt & distance)
[more]void setupGrid(Flt & distance)
[more]Pos gridPos(Int i, Int j)
[more]Pos posGrid(Pos pos)
[more]void setPivot(Angle hdir, const SeeInfo::Object* fl, const SeeInfo::Object* ln)
[more]Bool findPivot(const SeeInfo & sinf)
[more]Bool checkPos(const Pos & p, const SeeInfo::Object* f)
[more]void scoring(const SeeInfo & sinf)
[more]void calcCenter()
[more]Bool estimateAbs(const SeeInfo & sinf)
[more]Bool estimateTeam(PosDir & posdir, Flt & posConf, Bool & outOfFieldP, const SeeInfo& sinf, const Side side)
[more]static void orientationAbs2Team(Vec& pos, Side side)
[more]static void orientationAbs2Team(PosDir& posdir, const Side side)
[more]static void orientationAbs2Team(PosDir& posdir, Vec& vel, const Side side)


文書

Grid Method

Grid method estimates players position as follows:

  1. Find a line and the nearest flag in the sensor information.
  2. Calculate hdir from the line information.
  3. Define a fan-shape area of the possible position from the nearest flag.
  4. Divide the fan-shape area into grids by a small unit.
  5. For each flag in the sensor information, check each grid point can be valid as a player's position from which the sensor information can be gotten. If a grid point is possible, then it gets a point into its score.
  6. Search maximum score and a set of points whose score is equal to the maximum. Then, calculate the center point of the set.
  7. Calculate the confident value of the position based on the size of the possible grid area.

Suppose:








Some equations useful for estimate position.

The size of range in an actual values:

ovoid setupError(Flt & distance)

ovoid setupGrid(Flt & distance)

oPos gridPos(Int i, Int j)

oPos posGrid(Pos pos)

ovoid setPivot(Angle hdir, const SeeInfo::Object* fl, const SeeInfo::Object* ln)

oBool findPivot(const SeeInfo & sinf)

oBool checkPos(const Pos & p, const SeeInfo::Object* f)

ovoid scoring(const SeeInfo & sinf)

ovoid calcCenter()

oBool estimateAbs(const SeeInfo & sinf)

oBool estimateTeam(PosDir & posdir, Flt & posConf, Bool & outOfFieldP, const SeeInfo& sinf, const Side side)

ostatic void orientationAbs2Team(Vec& pos, Side side)

ostatic void orientationAbs2Team(PosDir& posdir, const Side side)

ostatic void orientationAbs2Team(PosDir& posdir, Vec& vel, const Side side)


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