locwm.h

来自「该文件是包含了机器人足球比赛中的整个系统的代码」· C头文件 代码 · 共 41 行

#ifndef _LOCWM_h_DEFINED
#define _LOCWM_h_DEFINED

#include "KF.h"
#include "../Globals.h"
#include "../Common/WorldObject.h"
#include "../Common/VisionObject.h"
#include "../Common/Common.h"
#include "../Common/RobotState.h"
#include "Matrix.h"

#define WORLDMODELBUFFERS 6

class LOCWM {
  public:
  LOCWM();

  void IntegrateVisionData();
  void IntegrateFourRobotData(const WorldObject* robotData, int numObjects, int robotID);
  void KFilter(KF* M,int modelNo);
  void SwapModels();
  void TwoObjects(KF* M,int beaconIndex,int postIndex);
  void BallPosition();
  void SetDataForTeam(WorldObject *objs, int num);
  void BeaconGoalPost(KF* M);
  void GoalPost(KF* M, int i);
  void Restart();


  void LoadParameters(char* parameterFile);

  double distErrorPerFrameMoving,angleErrorPerFrameMoving;
  double distErrorPerFrameStill,angleErrorPerFrameStill,ballDistErrorPerFrame,ballDistErrorPerFrameStill;
  double sdDistance, sdAngle;
  double delta;
  bool postDistUpdate, postAngleUpdate,cornerAngleUpdate,goalKeeper;
};

#endif // _LOCWM_h_DEFINED