extern C class Scene

Base Class for Scene Hierarchy An interface to the derived classes: this class contains only virtual functions

Inheritance:

Public

	General access functions virtual Motion_Model* get_motion_model () Get pointer to motion model virtual Internal_Measurement_Model* get_internal_measurement_model () Get pointer to internal measurement model virtual Hor_Matrix* get_xv () Get pointer to robot state virtual Hor_Matrix* get_Pxx () Get pointer to robot covariance virtual int get_no_selected () Number of selected features virtual int get_no_features () Total number of features virtual int get_total_state_size () Total size of state vector virtual int get_successful_measurement_vector_size () virtual void set_successful_measurement_vector_size (int smvs) virtual Feature* get_first_feature_ptr () virtual Feature* get_first_selected_ptr () virtual int get_marked_feature_label () virtual Hor_Matrix* get_hv () virtual Hor_Matrix* get_zv () virtual Hor_Matrix* get_Sv ()
	Bookkeeping virtual int vehicle_state_has_been_changed () Call this when the vehicle state is changed to potentially fire submap changes, etc
	Accessing blocks of the covariance matrix virtual int get_Pyjyk (int j, int k, Hor_Matrix *Pyjyk) virtual Hor_Matrix* get_Pyjyk_ptr (int j, int k)
	Adding / deleting features virtual int add_new_feature (Identifier id, Hor_Matrix *y, Feature_Measurement_Model *f_m_m) virtual int add_new_known_feature (Identifier id, Hor_Matrix *y_known, Hor_Matrix *xp_o, Feature_Measurement_Model *f_m_m, int known_feature_label) virtual int delete_feature () virtual int exterminate_features ()
	Finding features from the list virtual Feature* find_feature (Identifier id) virtual Feature* find_feature_lab (int lab)
	Selecting / deselecting features virtual int select_feature (Feature *fp) virtual int deselect_feature (Feature *fp) virtual int toggle_feature (Identifier id) virtual int toggle_feature_lab (int lab)
	Auto-select feature virtual int auto_select_feature ()
	Output info on current features virtual int print_current_features () virtual int print_selected_features () virtual int print_covariances () virtual int print_robot_state () virtual int print_marked_feature_state () virtual int print_whole_state () virtual int output_state_to_file (int counter, char *filename) virtual int output_state_to_file (int counter) virtual int output_state_to_file ()
	Manipulating total state and covariance virtual int construct_total_state_and_covariance (Hor_Matrix *V, Hor_Matrix *P) virtual int fill_state_and_covariance (Hor_Matrix *V, Hor_Matrix *P) virtual int construct_total_state (Hor_Matrix *V) virtual int construct_total_covariance (Hor_Matrix *M) virtual int fill_states (Hor_Matrix *V) virtual int fill_covariances (Hor_Matrix *M)
	Bookkeeping when measurements are made virtual int starting_measurements () virtual int failed_measurement_of_feature (Feature *fp) virtual int successful_measurement_of_feature (Feature *fp)
	Form matrices for measurement update virtual int construct_total_measurement_stuff (Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R) virtual int predict_single_feature_measurements (Feature *fp) virtual int predict_single_feature_measurements (Feature_Measurement_Model *model, Hor_Matrix *y, Hor_Matrix *xp, Hor_Matrix *h, Hor_Matrix *dh_by_dy, Hor_Matrix *dh_by_dxv, Hor_Matrix *R) This one is probably redundant
	Test a feature for measurability virtual int test_for_visibility (Feature *fp)
	Mark feature virtual int mark_feature_by_lab (int lab) Mark by integer label virtual int mark_first_feature () Mark first feature in list
	Internal Measurements virtual int successful_internal_measurement () Report a successful measurement virtual int failed_internal_measurement () Repost a failed measurement virtual int get_successful_internal_measurement_flag () Test success virtual int predict_internal_measurement () virtual int construct_total_internal_measurement_stuff (Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R_tot) Get ready for an internal measurement
	Zero axes virtual int zero_axes ()
	Normalise the state virtual int normalise_state ()

General access functions

virtual Motion_Model* get_motion_model()

Get pointer to motion model

virtual Internal_Measurement_Model* get_internal_measurement_model()

Get pointer to internal measurement model

virtual Hor_Matrix* get_xv()

Get pointer to robot state

virtual Hor_Matrix* get_Pxx()

Get pointer to robot covariance

virtual int get_no_selected()

Number of selected features

virtual int get_no_features()

Total number of features

virtual int get_total_state_size()

Total size of state vector

virtual int get_successful_measurement_vector_size()

virtual void set_successful_measurement_vector_size(int smvs)

virtual Feature* get_first_feature_ptr()

virtual Feature* get_first_selected_ptr()

virtual int get_marked_feature_label()

virtual Hor_Matrix* get_hv()

virtual Hor_Matrix* get_zv()

virtual Hor_Matrix* get_Sv()

Bookkeeping

virtual int vehicle_state_has_been_changed()

Call this when the vehicle state is changed to potentially fire submap changes, etc

Accessing blocks of the covariance matrix

virtual int get_Pyjyk(int j, int k, Hor_Matrix *Pyjyk)

virtual Hor_Matrix* get_Pyjyk_ptr(int j, int k)

Adding / deleting features

virtual int add_new_feature(Identifier id, Hor_Matrix *y, Feature_Measurement_Model *f_m_m)

virtual int add_new_known_feature(Identifier id, Hor_Matrix *y_known, Hor_Matrix *xp_o, Feature_Measurement_Model *f_m_m, int known_feature_label)

virtual int delete_feature()

virtual int exterminate_features()

Finding features from the list

virtual Feature* find_feature(Identifier id)

virtual Feature* find_feature_lab(int lab)

Selecting / deselecting features

virtual int select_feature(Feature *fp)

virtual int deselect_feature(Feature *fp)

virtual int toggle_feature(Identifier id)

virtual int toggle_feature_lab(int lab)

Auto-select feature

virtual int auto_select_feature()

Output info on current features

virtual int print_current_features()

virtual int print_selected_features()

virtual int print_covariances()

virtual int print_robot_state()

virtual int print_marked_feature_state()

virtual int print_whole_state()

virtual int output_state_to_file(int counter, char *filename)

virtual int output_state_to_file(int counter)

virtual int output_state_to_file()

Manipulating total state and covariance

virtual int construct_total_state_and_covariance(Hor_Matrix *V, Hor_Matrix *P)

virtual int fill_state_and_covariance(Hor_Matrix *V, Hor_Matrix *P)

virtual int construct_total_state(Hor_Matrix *V)

virtual int construct_total_covariance(Hor_Matrix *M)

virtual int fill_states(Hor_Matrix *V)

virtual int fill_covariances(Hor_Matrix *M)

Bookkeeping when measurements are made

virtual int starting_measurements()

virtual int failed_measurement_of_feature(Feature *fp)

virtual int successful_measurement_of_feature(Feature *fp)

Form matrices for measurement update

virtual int construct_total_measurement_stuff(Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R)

virtual int predict_single_feature_measurements(Feature *fp)

virtual int predict_single_feature_measurements(Feature_Measurement_Model *model, Hor_Matrix *y, Hor_Matrix *xp, Hor_Matrix *h, Hor_Matrix *dh_by_dy, Hor_Matrix *dh_by_dxv, Hor_Matrix *R)

This one is probably redundant

Test a feature for measurability

virtual int test_for_visibility(Feature *fp)

Returns:

0 if visible, > 0 otherwise

Mark feature

For possible deletion or other manipulation

virtual int mark_feature_by_lab(int lab)

Mark by integer label

virtual int mark_first_feature()

Mark first feature in list

Internal Measurements

virtual int successful_internal_measurement()

Report a successful measurement

virtual int failed_internal_measurement()

Repost a failed measurement

virtual int get_successful_internal_measurement_flag()

Test success

virtual int predict_internal_measurement()

virtual int construct_total_internal_measurement_stuff(Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R_tot)

Get ready for an internal measurement

Zero axes

Redefine the coordinate frame at the current robot position

virtual int zero_axes()

Normalise the state

If there are any redundant representations, make sure that they are in the right form and change the covariances accordingly

virtual int normalise_state()

Direct child classes:

Scene_Single
Scene_DSM

alphabetic index hierarchy of classes

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(c)opyright by Malte Zöckler, Roland Wunderling
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