00001 /** 00002 \file Robots/LoBot/misc/LoOdometry.C 00003 \brief This file defines the non-inline member functions of the 00004 lobot::Odometry class. 00005 */ 00006 00007 // //////////////////////////////////////////////////////////////////// // 00008 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005 // 00009 // by the University of Southern California (USC) and the iLab at USC. // 00010 // See http://iLab.usc.edu for information about this project. // 00011 // //////////////////////////////////////////////////////////////////// // 00012 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00013 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00014 // in Visual Environments, and Applications'' by Christof Koch and // 00015 // Laurent Itti, California Institute of Technology, 2001 (patent // 00016 // pending; application number 09/912,225 filed July 23, 2001; see // 00017 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00018 // //////////////////////////////////////////////////////////////////// // 00019 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00020 // // 00021 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00022 // redistribute it and/or modify it under the terms of the GNU General // 00023 // Public License as published by the Free Software Foundation; either // 00024 // version 2 of the License, or (at your option) any later version. // 00025 // // 00026 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00027 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00028 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00029 // PURPOSE. See the GNU General Public License for more details. // 00030 // // 00031 // You should have received a copy of the GNU General Public License // 00032 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00033 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00034 // Boston, MA 02111-1307 USA. // 00035 // //////////////////////////////////////////////////////////////////// // 00036 // 00037 // Primary maintainer for this file: mviswana usc edu 00038 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/slam/LoOdometry.C $ 00039 // $Id: LoOdometry.C 13478 2010-05-25 03:54:43Z mviswana $ 00040 // 00041 00042 //------------------------------ HEADERS -------------------------------- 00043 00044 // lobot headers 00045 #include "Robots/LoBot/slam/LoOdometry.H" 00046 #include "Robots/LoBot/util/LoMath.H" 00047 00048 //----------------------------- NAMESPACE ------------------------------- 00049 00050 namespace lobot { 00051 00052 //-------------------------- INITIALIZATION ----------------------------- 00053 00054 Odometry::Odometry() 00055 : m_delta(0, 0), m_total(0, 0), 00056 m_thresholds(-1, -1) 00057 {} 00058 00059 //------------------------------ UPDATES -------------------------------- 00060 00061 void Odometry::add(int distance, int angle) 00062 { 00063 m_delta.first += distance ; 00064 m_delta.second += angle ; 00065 00066 m_total.first += abs(distance) ; 00067 m_total.second += abs(angle) ; 00068 } 00069 00070 //-------------------------- THRESHOLD CHECK ---------------------------- 00071 00072 bool Odometry::thresholds_crossed() const 00073 { 00074 return (m_total.first > 0 && m_total.first >= m_thresholds.first) 00075 || (m_total.second > 0 && m_total.second >= m_thresholds.second) ; 00076 } 00077 00078 //----------------------------------------------------------------------- 00079 00080 } // end of namespace encapsulating this file's definitions 00081 00082 /* So things look consistent in everyone's emacs... */ 00083 /* Local Variables: */ 00084 /* indent-tabs-mode: nil */ 00085 /* End: */
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