local_feature_map Class Reference

List of all members.

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Detailed Description

Feature map class.

Public Member Functions
	local_feature_map ()
	Constructor.
	~local_feature_map ()
	Destructor.
int	initialize ()
	Initialize.
void	set_name (char *name)
	Set feature map name.
char *	get_name ()
	Get feature map name.
double	get_timestamp ()
	Get feature map timestamp.
int	get_n_features () const
	Get number of segments.
const feature &	get_feature (int i) const
	Get feature i from feature list.
void	clear ()
	Clear features in map.
void	detect_motion_features (int freq, laserscan &scan)
	Detect motion features if has_new_data is true.
void	detect_shape_features (laserscan &scan)
	Detect shape features if has_new_data is true.
void	combine_features (laserscan &scan)
	Merge features by AND- and OR-combination of contributing points.
void	print ()
	Print feature map.
void	print_gnuplot (laserscan &scan, int print_header, int print_data)
	Pipe'n'print feature map into gnuplot.
Private Member Functions
void	cleanup_features (laserscan &scan)
	Removes too small segments and merges consecutive segments.
void	estimate_centers ()
	Calculates segment centers.
Private Attributes
char *	name
	Feature map name.
double	timestamp
	Timestamp, received from last scan.
int	initialized
	Flag indicating if map is initialized.
int	id_counter
	Global counter to generate feature id's.
vector< feature >	features
	List of features.
laserscan	scan_old
	Old scan, used for motion feature detection.

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