LoSurvey.C File Reference

This file defines the non-inline member functions of the lobot::Survey class. More...

#include "Robots/LoBot/control/LoSurvey.H"
#include "Robots/LoBot/LoApp.H"
#include "Robots/LoBot/slam/LoMap.H"
#include "Robots/LoBot/slam/LoSlamParams.H"
#include "Robots/LoBot/io/LoLRFData.H"
#include "Robots/LoBot/config/LoConfigHelpers.H"
#include "Robots/LoBot/thread/LoUpdateLock.H"
#include "Robots/LoBot/thread/LoShutdown.H"
#include "Robots/LoBot/misc/LoExcept.H"
#include "Robots/LoBot/misc/LoRegistry.H"
#include "Robots/LoBot/util/LoMath.H"
#include "Util/log.H"
#include <GL/glu.h>
#include <GL/gl.h>
#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>
#include <string>
#include <algorithm>
#include <vector>
#include <utility>

Include dependency graph for LoSurvey.C:

Go to the source code of this file.

Functions
static bool	lobot::operator< (const Particle::Viz &a, const Particle::Viz &b)
static Particle::Viz	lobot::rescale_weight (const Particle::Viz &p, float min, float max_minus_min)
static void	lobot::render_particle (const Particle::Viz &p)
static void	lobot::render_bearing (const Particle::Viz &p, float Sx, float Sy)

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Detailed Description

This file defines the non-inline member functions of the lobot::Survey class.

Definition in file LoSurvey.C.

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Variable Documentation

std::pair<float, float> m_bearing_scale

Bearing scale factors: these "parameters" are scale factors used to convert the computer screen's pixel coordinates into the map's real/physical coordinates. These scale factors are used to show particle bearings in a fixed screen pixel size but in the map's coordinate system.

Definition at line 147 of file LoSurvey.C.

std::pair<int, int> m_odometry_max

Sometimes the low-level controller goes berserk and sends nonsensical odometry packets. This setting specifies the maximum acceptable values for the distance and rotation sent by the low-level. Values greater than these thresholds will be reported on stderr but ignored for SLAM updates.

Definition at line 127 of file LoSurvey.C.

bool m_show_bearings

Does the user want to show particle bearings as well as the particle positions? By default, the visualization only shows the particle positions.

Definition at line 140 of file LoSurvey.C.

std::pair<int, int> m_thresholds

Since SLAM updates can be quite intense, the survey behaviour waits for the robot to move or turn by at least some minimum amount before triggering the SLAM algorithm. This setting specifies the above-mentioned thresholds. The distance threshold is in mm and the angle threshold in degrees.

NOTE: This setting expects its value to be two integers. The first number is used for the distance threshold and the second for the angle threshold. Set these values to -1 to turn the thresholds off.

Definition at line 120 of file LoSurvey.C.

int m_update_delay

The number of milliseconds between successive iterations of this behaviour.

WARNING: The ability to change a behaviour's update frequency is a very powerful feature whose misuse or abuse can wreak havoc! Be sure to use reasonable values for this setting.

Definition at line 135 of file LoSurvey.C.