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Public Member Functions |
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| feature (int np=MAX_N_CONTR_POINTS) |
| | Constructor.
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| ~feature () |
| | Destructor.
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| feature (const feature &f) |
| | Copy constructor.
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feature & | operator= (const feature &f) |
| | Assignment operator.
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int | get_id () const |
| | Get feature id.
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void | set_id (int id) |
| | Set feature id.
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int | get_type () const |
| | Get type id.
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void | set_type (int type) |
| | Set type.
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int | get_i_start () const |
| | Get start index from range of contributing points in original scan.
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void | set_i_start (int i) |
| | Set start index from range of contributing points in original scan.
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int | get_i_end () const |
| | Get end index from range of contributing points in original scan.
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void | set_i_end (int i) |
| | Set end index from range of contributing points in original scan.
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int | get_n_support_cues () const |
| | Get number of supporting cues.
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void | set_n_support_cues (int n) |
| | Set number of supporting cues.
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void | get_cog (double &x_mean, double &y_mean) const |
| | Get center of gravity.
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int | get_n_points () const |
| | Get number of contributing points.
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void | set_n_points (int np) |
| | Set number of contributing points.
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void | get_points (double *&phi, double *&rho) const |
| | Get contributing points.
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int | set_point (int i, double phi, double rho) |
| | Set point with index i.
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void | estimate_center () |
| | Estimate centers (x_mean, y_mean).
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void | print () const |
| | Print feature info into shell.
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Private Attributes |
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int | id |
| | Feature identifier.
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int | type |
| | Feature type encoding origin from a set of cues/sensors.
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int | n_support_cues |
| | Number of cues by which the feature is supported.
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int | i_start |
| | Feature segment start index, referring to the scan array.
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int | i_end |
| | Feature segment end index, referring to the scan array.
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int | max_np |
| | Maximal number of segment points (this is to make faster static point arrays possible).
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int | np |
| | Number of points in segment.
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double | x_mean |
| | Segment center of gravity in x.
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double | y_mean |
| | Segment center of gravity in y.
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double * | phi |
| | Segment points in polar coordinates, pointer to phi-values.
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double * | rho |
| | Segment points in polar coordinates, pointer to rho-values.
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