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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>ARNL: ArLocalizationTask Class Reference</title>
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<h1>ArLocalizationTask Class Reference</h1><!-- doxytag: class="ArLocalizationTask" --><!-- doxytag: inherits="ArBaseLocalizationTask" --><code>#include <ArLocalizationTask.h></code>
<p>
<div class="dynheader">
Inheritance diagram for ArLocalizationTask:</div>
<div class="dynsection">
<p><center><img src="classArLocalizationTask.png" usemap="#ArLocalizationTask_map" border="0" alt=""></center>
<map name="ArLocalizationTask_map">
<area doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArBaseLocalizationTask.html" alt="ArBaseLocalizationTask" shape="rect" coords="0,0,147,24">
</map>
</div>
<p>
<a href="classArLocalizationTask-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>
Task that performs continuous localization of the robot with a laser range sensor in a seperate asynchronous thread.
<p>
The localization software can be used to localize a robot in a given map using the laser rangefinder. The system is meant to be used along with ARIA.<p>
The localization system uses Monte Carlo Localization Algorithm to accurately localize the robot in the given map using its laser data. The localization task is meant to be initialized and run in a separate thread in ARIA. It can be used with a real robot or with a simulator.<p>
In order to get the localization task thread going, the <a class="el" href="classArLocalizationTask.html" title="Task that performs continuous localization of the robot with a laser range sensor...">ArLocalizationTask</a> class needs an instantiated ArRobot, ArRangeDevice and a map file of the robot's environment. The output of the localization will be reflected directly in the pose of the ArRobot. (unless explicitly set to not do so)<p>
The basic MCL localization system has also been augmented with a Kalman filter which will fuse the wheel encoder data with the reflections from known laser reflecting landmarks (these are constructed with special reflective plastic manufactured by laser) in the map. To use this functionality you will need a map with reflector positions in it, and will have to configure the laser to return reflectance information. ARNL will incrementally incorporate the reflections from the landmarks using a EKF formulation. See the main ARNL overview page for details on this extra feature, including how to enable reflectance data in the laser.<p>
<a class="el" href="classArLocalizationTask.html" title="Task that performs continuous localization of the robot with a laser range sensor...">ArLocalizationTask</a> automatically creates and runs its background thread when constructed. <dl compact><dt><b>Examples: </b></dt><dd>
<p>
<a class="el" href="arnlJustLocalization_8cpp-example.html#_a1">arnlJustLocalization.cpp</a>, and <a class="el" href="arnlServer_8cpp-example.html#_a1">arnlServer.cpp</a>.</dl><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>ArNetworking callback methods</h2></td></tr>
<tr><td colspan="2">(used by server classes in ArServerClasses.cpp) <br><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#106eada91144e31e6c9999f2130bb98f">drawRangePoints</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws range data used for localization. <a href="#106eada91144e31e6c9999f2130bb98f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#5f3b4db124a95cadde4c3847c83dfb76">drawReflectorRays</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw rays from the robot to the reflector. <a href="#5f3b4db124a95cadde4c3847c83dfb76"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#86cf6d49537ad1c2361023731a601915">drawSamplePoses</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws debugging objects if filled. <a href="#86cf6d49537ad1c2361023731a601915"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c0a1783f962d3f6749e9eb008248f605">drawSampleBounds</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws the sample bounds. <a href="#c0a1783f962d3f6749e9eb008248f605"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d1d5dfeaf12d5fcccbf71cb2c862e020">drawKalmanVariance</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws the sample bounds. <a href="#d1d5dfeaf12d5fcccbf71cb2c862e020"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#3128b8138e5a4526d2711fa005b5baed">drawMCLVariance</a> (ArServerClient *client, ArNetPacket *packet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws the sample bounds. <a href="#3128b8138e5a4526d2711fa005b5baed"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#04ddffc1a65b12224a7520401d57cfb1">getPoseInterpPosition</a> (ArTime timeStamp, ArPose *position)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the position the robot was at at the given timestamp. <a href="#04ddffc1a65b12224a7520401d57cfb1"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="78e68e0811350c2bc1d4c0626b33e5af"></a><!-- doxytag: member="ArLocalizationTask::setMultiRobotCallback" ref="78e68e0811350c2bc1d4c0626b33e5af" args="(ArRetFunctor< std::list< ArMultiRobotPoseAndRadius > > *func)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#78e68e0811350c2bc1d4c0626b33e5af">setMultiRobotCallback</a> (ArRetFunctor< std::list< ArMultiRobotPoseAndRadius > > *func)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the callback function for localization to know about other robots. <br></td></tr>
<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#88c08118381e60bcecf232915dfc9aba">ArLocalizationTask</a> (ArRobot *robot, ArRangeDevice *laser, char *mapName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Base constructor with all the necessary inputs. <a href="#88c08118381e60bcecf232915dfc9aba"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a18b10d2a979b8efdb81676bf364b25b">ArLocalizationTask</a> (ArRobot *robot, ArRangeDevice *laser, ArMapInterface *ariaMap, bool noReflectors=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Base constructor with all the necessary inputs. <a href="#a18b10d2a979b8efdb81676bf364b25b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#177bf98169a54c71c5cf3df1cd5d78c6">~ArLocalizationTask</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Base destructor. <a href="#177bf98169a54c71c5cf3df1cd5d78c6"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a8aae87142d4783038311287876acc56">localizeRobotInMapInit</a> (ArPose given, int numSamples, double stdX, double stdY, double stdT, double thresFactor, bool warn=true, bool setInitializedToFalse=true, bool rayTrace=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Localization function mainly for initialization of robot at given pose. <a href="#a8aae87142d4783038311287876acc56"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#9eda6f04ec9d1e6ef9c78ab4ead096d9">localizeRobotInMapMoved</a> (int numSamples, double distFactor, double angFactor, double thresFactor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function used to do the localization after motion (normally called automatically by the background task). <a href="#9eda6f04ec9d1e6ef9c78ab4ead096d9"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#5f03ae43cbb2d0ca0f0c9d4277858fa1">localizeRobotAtHomeBlocking</a> (double distSpread, double angleSpread, double probThreshold)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Try initial localization at each home point at the map, and set the robot pose to the point with best score, using given parameter values instead of values previously configured. <a href="#5f03ae43cbb2d0ca0f0c9d4277858fa1"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#84009836cb0a32913eb516fdce18b365">localizeRobotAtHomeBlocking</a> (double spreadX, double spreadY, double angleSpread, double probThreshold)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">instead of values previously configured <a href="#84009836cb0a32913eb516fdce18b365"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6b6184e1ad5ee449c1de72f0d689bb59"></a><!-- doxytag: member="ArLocalizationTask::localizeRobotAtHomeBlocking" ref="6b6184e1ad5ee449c1de72f0d689bb59" args="(double distSpread, double angleSpread)" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#6b6184e1ad5ee449c1de72f0d689bb59">localizeRobotAtHomeBlocking</a> (double distSpread, double angleSpread)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The common function call from above. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#fe38e3fc30d46cc2ab2c348366ccdf6b">localizeRobotAtHomeBlocking</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Try initial localization at each home point at the map, \ and set the robot pose to the point with best score. <a href="#fe38e3fc30d46cc2ab2c348366ccdf6b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#35969f66db214d2fa1f606dbde01a407">localizeRobotAtHomeNonBlocking</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request that the task later localize the robot at a map home \ position, then return immediately. <a href="#35969f66db214d2fa1f606dbde01a407"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual ArPose </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f886762ca9cbbf527b81d6601e9c2123">getRobotHome</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the pose that robot was localized to. <a href="#f886762ca9cbbf527b81d6601e9c2123"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#7cee2cf3acdba0e9914a5169dcd1cb57">setForceUpdateParams</a> (int numSamples, double xStd, double yStd, double tStd)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the force update parameters. <a href="#7cee2cf3acdba0e9914a5169dcd1cb57"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e1922fd8a9b0cbc054b632c1489a793f">forceUpdatePose</a> (ArPose forcePose, bool rayTrace=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Force an update in thread instead of waiting for distance-angle trigger. <a href="#e1922fd8a9b0cbc054b632c1489a793f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#7a979b768479d09cba163b5eaa6dd7c0">addFailedLocalizationCB</a> (ArFunctor1< int > *functor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Adds a callback which will be called when loca fails. <a href="#7a979b768479d09cba163b5eaa6dd7c0"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#5b8d952240e1a9937579a61e675c1701">remFailedLocalizationCB</a> (ArFunctor1< int > *functor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Removes a callback. <a href="#5b8d952240e1a9937579a61e675c1701"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="fe44ab42107c4d00462f9c27f2cf8d0a"></a><!-- doxytag: member="ArLocalizationTask::setGridResolution" ref="fe44ab42107c4d00462f9c27f2cf8d0a" args="(double res, ArMapInterface *ariaMap)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#fe44ab42107c4d00462f9c27f2cf8d0a">setGridResolution</a> (double res, ArMapInterface *ariaMap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the occupancy grid with the new map. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c8329d057c8676dfb356ebd09bfcca2e"></a><!-- doxytag: member="ArLocalizationTask::setFailedCallBack" ref="c8329d057c8676dfb356ebd09bfcca2e" args="(ArFunctor1< int > *fcb)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c8329d057c8676dfb356ebd09bfcca2e">setFailedCallBack</a> (ArFunctor1< int > *fcb)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets tracking failed Callback. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="171a561a0b7a31e411bec51abe0ad895"></a><!-- doxytag: member="ArLocalizationTask::getState" ref="171a561a0b7a31e411bec51abe0ad895" args="(void)" -->
virtual <a class="elRef" doxygen="BaseArnl.tag:../BaseArnl-Reference//" href="../BaseArnl-Reference//classArBaseLocalizationTask.html#c7e65bb9139f64c603a01017dcf475f9">LocalizationState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#171a561a0b7a31e411bec51abe0ad895">getState</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the state of localization. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0ee3ee6fdbf0d9c8a42a59e985da2368"></a><!-- doxytag: member="ArLocalizationTask::getIdleFlag" ref="0ee3ee6fdbf0d9c8a42a59e985da2368" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0ee3ee6fdbf0d9c8a42a59e985da2368">getIdleFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the idle flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4431a755412297c1c6c306474cf62a24"></a><!-- doxytag: member="ArLocalizationTask::getReloadingMapFlag" ref="4431a755412297c1c6c306474cf62a24" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4431a755412297c1c6c306474cf62a24">getReloadingMapFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the map reloading flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ArMapInterface * </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#3972cd1aa1ba98d5d586e59604af24c9">readMapFromFile</a> (char *mapName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read the Map data from a map file. <a href="#3972cd1aa1ba98d5d586e59604af24c9"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ArMapInterface * </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#735b8c1fc2ad55e6974bdc490f32ba2e">readAriaMap</a> (ArMapInterface *ariaMap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read the Map data from ArMap. <a href="#735b8c1fc2ad55e6974bdc490f32ba2e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#cdf46fbbe9abdad5ccb41a9ba4818932">loadParamFile</a> (const char *file)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load parameters from the given filename into ArConfig. <a href="#cdf46fbbe9abdad5ccb41a9ba4818932"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#390eb249578faa44f1366d103ee36dba">saveParams</a> (char *filename)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves all parameter values from ArConfig to the given file. <a href="#390eb249578faa44f1366d103ee36dba"></a><br></td></tr>
<tr><td colspan="2"><div class="groupHeader">Modifiers for configuration values.</div></td></tr>
<tr><td colspan="2"><div class="groupText">Normally these values are automatically set via ArConfig (e.g.<p>
by loading them from a file or other source) in the "Localization" section, and these methods would only be used internally by ARNL. However, they can be used if you are not using ArConfig or wish to override a setting. <br><br></div></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d02cf928e04e7f6d31ee4d47a1ee8c09"></a><!-- doxytag: member="ArLocalizationTask::setTriggerDelR" ref="d02cf928e04e7f6d31ee4d47a1ee8c09" args="(double tr)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d02cf928e04e7f6d31ee4d47a1ee8c09">setTriggerDelR</a> (double tr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the motion trigger value for distance. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c6a614dce98cefa906f5a07dd4e76433"></a><!-- doxytag: member="ArLocalizationTask::setTriggerDelT" ref="c6a614dce98cefa906f5a07dd4e76433" args="(double tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c6a614dce98cefa906f5a07dd4e76433">setTriggerDelT</a> (double tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the motion trigger value for angle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d945c0a8f9442b20522148a4405cd320"></a><!-- doxytag: member="ArLocalizationTask::setTriggerTimeFlag" ref="d945c0a8f9442b20522148a4405cd320" args="(bool tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d945c0a8f9442b20522148a4405cd320">setTriggerTimeFlag</a> (bool tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag to trigger on idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5017d6d215888dc2f27607496ddbf969"></a><!-- doxytag: member="ArLocalizationTask::setTriggerTime" ref="5017d6d215888dc2f27607496ddbf969" args="(double tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#5017d6d215888dc2f27607496ddbf969">setTriggerTime</a> (double tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the idle trigger time in millisecs. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a17fac873a420069f3d1f59b1d627785"></a><!-- doxytag: member="ArLocalizationTask::setTriggerTimeX" ref="a17fac873a420069f3d1f59b1d627785" args="(double tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a17fac873a420069f3d1f59b1d627785">setTriggerTimeX</a> (double tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the X range when localization triggers due to idle time. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b427c60e919299180b77de2517fc02c0"></a><!-- doxytag: member="ArLocalizationTask::setTriggerTimeY" ref="b427c60e919299180b77de2517fc02c0" args="(double tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#b427c60e919299180b77de2517fc02c0">setTriggerTimeY</a> (double tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the Y range when localization triggers due to idle time. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d3492918b16c98212bac5eeb4f3a421d"></a><!-- doxytag: member="ArLocalizationTask::setTriggerTimeTh" ref="d3492918b16c98212bac5eeb4f3a421d" args="(double tt)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d3492918b16c98212bac5eeb4f3a421d">setTriggerTimeTh</a> (double tt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the Theta range when localization triggers due to idle time. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="272087bebedd5c2376156cd3b6918d71"></a><!-- doxytag: member="ArLocalizationTask::setNumSamples" ref="272087bebedd5c2376156cd3b6918d71" args="(int n)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#272087bebedd5c2376156cd3b6918d71">setNumSamples</a> (int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of samples to use in the MCL. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b5a14b97615406d70a733caec44ec815"></a><!-- doxytag: member="ArLocalizationTask::setNumSamplesAtInit" ref="b5a14b97615406d70a733caec44ec815" args="(int n)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#b5a14b97615406d70a733caec44ec815">setNumSamplesAtInit</a> (int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of samples to use during initialization. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4961b0b7ce8b93e51f640473a6c5b0de"></a><!-- doxytag: member="ArLocalizationTask::setRayTraceAtInit" ref="4961b0b7ce8b93e51f640473a6c5b0de" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4961b0b7ce8b93e51f640473a6c5b0de">setRayTraceAtInit</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the flag which decides on ray tracing for localize at init. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="88fee6071ca753a7a564f3338df6e45d"></a><!-- doxytag: member="ArLocalizationTask::setCurrentNumSamples" ref="88fee6071ca753a7a564f3338df6e45d" args="(int n)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#88fee6071ca753a7a564f3338df6e45d">setCurrentNumSamples</a> (int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the variable number of samples (usually adjusted automatically). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="64ebade1aaf941a51c5637556b94f3df"></a><!-- doxytag: member="ArLocalizationTask::setPassThreshold" ref="64ebade1aaf941a51c5637556b94f3df" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#64ebade1aaf941a51c5637556b94f3df">setPassThreshold</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the pass threshold for fraction of laser points matched to env. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf64d10ecf6f72422515ab883dc90e86"></a><!-- doxytag: member="ArLocalizationTask::setSensorBelief" ref="bf64d10ecf6f72422515ab883dc90e86" args="(double sensorBelief)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bf64d10ecf6f72422515ab883dc90e86">setSensorBelief</a> (double sensorBelief)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the sensor belief. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="572ce384a18f4cc4271d9ea224ca8613"></a><!-- doxytag: member="ArLocalizationTask::setCurrentLocaPose" ref="572ce384a18f4cc4271d9ea224ca8613" args="(double x, double y, double th)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#572ce384a18f4cc4271d9ea224ca8613">setCurrentLocaPose</a> (double x, double y, double th)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the current pose. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="812685da6700427cb1bee836115a722e"></a><!-- doxytag: member="ArLocalizationTask::setCurrentLocaPose" ref="812685da6700427cb1bee836115a722e" args="(ArPose p)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#812685da6700427cb1bee836115a722e">setCurrentLocaPose</a> (ArPose p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the current pose. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="215bc3e75c887ffd5c0aa76f3d64ebff"></a><!-- doxytag: member="ArLocalizationTask::setVerboseFlag" ref="215bc3e75c887ffd5c0aa76f3d64ebff" args="(bool a)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#215bc3e75c887ffd5c0aa76f3d64ebff">setVerboseFlag</a> (bool a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the verbose flag value. (for debugging). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e981e8dcc712da20ff5b9940d3c10fde"></a><!-- doxytag: member="ArLocalizationTask::setAngleIncrement" ref="e981e8dcc712da20ff5b9940d3c10fde" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e981e8dcc712da20ff5b9940d3c10fde">setAngleIncrement</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the laser increments. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="cc58084579c9900f608f1f8a4cbbb5bc"></a><!-- doxytag: member="ArLocalizationTask::setKillThreshold" ref="cc58084579c9900f608f1f8a4cbbb5bc" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><b>setKillThreshold</b> (double f)</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1d93112a63d516af5b4d82d8cc33bed6"></a><!-- doxytag: member="ArLocalizationTask::setRecoverOnFailedFlag" ref="1d93112a63d516af5b4d82d8cc33bed6" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1d93112a63d516af5b4d82d8cc33bed6">setRecoverOnFailedFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the recoverOnFailed flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8347691797bdba24fa53bb668be7d12e"></a><!-- doxytag: member="ArLocalizationTask::setIdleFlag" ref="8347691797bdba24fa53bb668be7d12e" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#8347691797bdba24fa53bb668be7d12e">setIdleFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the idle flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1fc3d1d4a52dc7a5d89b767e941eb451"></a><!-- doxytag: member="ArLocalizationTask::setReloadingMapFlag" ref="1fc3d1d4a52dc7a5d89b767e941eb451" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1fc3d1d4a52dc7a5d89b767e941eb451">setReloadingMapFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the map reloading flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="26662f0cdd4d534682e3d2c65a640be7"></a><!-- doxytag: member="ArLocalizationTask::setEnableReflectorLocalizationFlag" ref="26662f0cdd4d534682e3d2c65a640be7" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#26662f0cdd4d534682e3d2c65a640be7">setEnableReflectorLocalizationFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag to fuse all sensors. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="784d83be81129688a21dc973ca84bb9a"></a><!-- doxytag: member="ArLocalizationTask::setReflectorVar" ref="784d83be81129688a21dc973ca84bb9a" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#784d83be81129688a21dc973ca84bb9a">setReflectorVar</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the variance in the XY for the reflector centers. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="98accd6d40d9deaaad20b9d59f9c6e7c"></a><!-- doxytag: member="ArLocalizationTask::setReflectorMatchDist" ref="98accd6d40d9deaaad20b9d59f9c6e7c" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#98accd6d40d9deaaad20b9d59f9c6e7c">setReflectorMatchDist</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the radius to search for a reflector to match a given reflection. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4e5d4c4105281be795a55c9b6c710802"></a><!-- doxytag: member="ArLocalizationTask::setReflectorMatchAngle" ref="4e5d4c4105281be795a55c9b6c710802" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4e5d4c4105281be795a55c9b6c710802">setReflectorMatchAngle</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the angle to search for a reflector to match a given reflection. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="65a4eeba4da6ef72d15c105d50b0caa4"></a><!-- doxytag: member="ArLocalizationTask::setReflectorMaxRange" ref="65a4eeba4da6ef72d15c105d50b0caa4" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#65a4eeba4da6ef72d15c105d50b0caa4">setReflectorMaxRange</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the maximum distance the reflector can be seen. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="075f34fd46da670dd00823a4c6014359"></a><!-- doxytag: member="ArLocalizationTask::setReflectorMaxAngle" ref="075f34fd46da670dd00823a4c6014359" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#075f34fd46da670dd00823a4c6014359">setReflectorMaxAngle</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the maximum incident angle the reflector can be seen. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2dd0d93b33324e7a16e4cf44d0e5f917"></a><!-- doxytag: member="ArLocalizationTask::setReflectorSize" ref="2dd0d93b33324e7a16e4cf44d0e5f917" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#2dd0d93b33324e7a16e4cf44d0e5f917">setReflectorSize</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the reflector size. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4b1b3b16d938141108234effa8c15911"></a><!-- doxytag: member="ArLocalizationTask::setReflectanceThreshold" ref="4b1b3b16d938141108234effa8c15911" args="(int f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4b1b3b16d938141108234effa8c15911">setReflectanceThreshold</a> (int f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the reflectance threshold. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8623348451fbf8b2ccfff312a7e38a47"></a><!-- doxytag: member="ArLocalizationTask::setBypassMCLFlag" ref="8623348451fbf8b2ccfff312a7e38a47" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#8623348451fbf8b2ccfff312a7e38a47">setBypassMCLFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag which decides to bypasses MCL and use reflectors. <br></td></tr>
<tr><td colspan="2"><div class="groupHeader">Accessors for current configuration values.</div></td></tr>
<tr><td colspan="2"><div class="groupText">These values are normally set via ArConfig (the "Localization" section) by loading a file or other means, or by calling the modifier functions above. <br><br></div></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#3496da7e592e4aec62b41705a36eeeaf">getForceUpdateParams</a> (ArPose &forcePose, int &numSamples, double &xStd, double &yStd, double &tStd)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the params to do the localization from the class. <a href="#3496da7e592e4aec62b41705a36eeeaf"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="543fb5a61cc5a9330299e55529478b98"></a><!-- doxytag: member="ArLocalizationTask::getVerboseFlag" ref="543fb5a61cc5a9330299e55529478b98" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#543fb5a61cc5a9330299e55529478b98">getVerboseFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the verbose flag. (for debugging only). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7fd43f44bed869efdcbaa88812f34210"></a><!-- doxytag: member="ArLocalizationTask::getInitializedFlag" ref="7fd43f44bed869efdcbaa88812f34210" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#7fd43f44bed869efdcbaa88812f34210">getInitializedFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the initialized flag indicating if localization thread is on. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8d5f53fc8343636fe5d424b9585cc5e1"></a><!-- doxytag: member="ArLocalizationTask::getNumSamples" ref="8d5f53fc8343636fe5d424b9585cc5e1" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#8d5f53fc8343636fe5d424b9585cc5e1">getNumSamples</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum number of samples used in the MCL. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1e76b1985129decef1c3e32550cb08ee"></a><!-- doxytag: member="ArLocalizationTask::getNumSamplesAtInit" ref="1e76b1985129decef1c3e32550cb08ee" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1e76b1985129decef1c3e32550cb08ee">getNumSamplesAtInit</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of samples used in the MCL during initialization. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="389211b9281d2b2184f22d48e95bd1bb"></a><!-- doxytag: member="ArLocalizationTask::getRayTraceAtInit" ref="389211b9281d2b2184f22d48e95bd1bb" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#389211b9281d2b2184f22d48e95bd1bb">getRayTraceAtInit</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the flag which decides on ray tracing for localize at init. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f05fb6f78dbb52b3937698ef467e3d1a"></a><!-- doxytag: member="ArLocalizationTask::getCurrentNumSamples" ref="f05fb6f78dbb52b3937698ef467e3d1a" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f05fb6f78dbb52b3937698ef467e3d1a">getCurrentNumSamples</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the variable number of samples if adjusted during move. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ArPose </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f792eeae492bded0ebba93fb375972ba">getRobotMaxProbPose</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current computed best robot pose. <a href="#f792eeae492bded0ebba93fb375972ba"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e52e56e35dd48ffc980f05f1da54bf0f"></a><!-- doxytag: member="ArLocalizationTask::getTriggerDelR" ref="e52e56e35dd48ffc980f05f1da54bf0f" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e52e56e35dd48ffc980f05f1da54bf0f">getTriggerDelR</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the min distance to localize. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e6a7140a969c50aacb3d1064ff080946"></a><!-- doxytag: member="ArLocalizationTask::getTriggerDelT" ref="e6a7140a969c50aacb3d1064ff080946" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e6a7140a969c50aacb3d1064ff080946">getTriggerDelT</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the min angle to localize. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1ca678ba3a7a985accdf1b0ba0dcbc5e"></a><!-- doxytag: member="ArLocalizationTask::getTriggerTimeFlag" ref="1ca678ba3a7a985accdf1b0ba0dcbc5e" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1ca678ba3a7a985accdf1b0ba0dcbc5e">getTriggerTimeFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag indicating if localization should trigger on idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bfa4c078cc52329a305c59391302684e"></a><!-- doxytag: member="ArLocalizationTask::getTriggerTime" ref="bfa4c078cc52329a305c59391302684e" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bfa4c078cc52329a305c59391302684e">getTriggerTime</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the min time in millisecs to be idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1bead92d4162fcff955354696674beea"></a><!-- doxytag: member="ArLocalizationTask::getTriggerTimeX" ref="1bead92d4162fcff955354696674beea" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1bead92d4162fcff955354696674beea">getTriggerTimeX</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the X range of samples when localization triggers on idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a30a4539d9ca39e244372bb695ac525f"></a><!-- doxytag: member="ArLocalizationTask::getTriggerTimeY" ref="a30a4539d9ca39e244372bb695ac525f" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a30a4539d9ca39e244372bb695ac525f">getTriggerTimeY</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the Y range of samples when localization triggers on idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="af95f138830ff1b83557d701941fdd86"></a><!-- doxytag: member="ArLocalizationTask::getTriggerTimeTh" ref="af95f138830ff1b83557d701941fdd86" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#af95f138830ff1b83557d701941fdd86">getTriggerTimeTh</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the Theta range of samples when localization triggers on idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="60f5ae538e23a87bca4bdca4b6309654"></a><!-- doxytag: member="ArLocalizationTask::getPassThreshold" ref="60f5ae538e23a87bca4bdca4b6309654" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#60f5ae538e23a87bca4bdca4b6309654">getPassThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the Pass threshold for localization success. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="45a876f33cf931ab7b318c54cca609ef"></a><!-- doxytag: member="ArLocalizationTask::getUsingPassThreshold" ref="45a876f33cf931ab7b318c54cca609ef" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#45a876f33cf931ab7b318c54cca609ef">getUsingPassThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the Pass threshold for localization success being used right now. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6af640031778a4270e0820edbdeeea42"></a><!-- doxytag: member="ArLocalizationTask::setTempPassThreshold" ref="6af640031778a4270e0820edbdeeea42" args="(double passThreshold)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#6af640031778a4270e0820edbdeeea42">setTempPassThreshold</a> (double passThreshold)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the Pass threshold to use until it is reset to config. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="31e002a2cc0cdfab58eb9f0d273b088a"></a><!-- doxytag: member="ArLocalizationTask::getTempPassThreshold" ref="31e002a2cc0cdfab58eb9f0d273b088a" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#31e002a2cc0cdfab58eb9f0d273b088a">getTempPassThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the temporary pass threshold to use until it is reset to config. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a5fe3a7ef20b5fa16bf57860bb0dfd00"></a><!-- doxytag: member="ArLocalizationTask::clearTempPassThreshold" ref="a5fe3a7ef20b5fa16bf57860bb0dfd00" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a5fe3a7ef20b5fa16bf57860bb0dfd00">clearTempPassThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Resets the Pass threshold to config. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#17ff3d74dfa7cd4955c284a954e2ba03">getLocalizationScore</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the higher of MCL and Reflector based localization. <a href="#17ff3d74dfa7cd4955c284a954e2ba03"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#8f5b71d10d7b11ebd5e63197900dfb21">getLocalizationThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the localization threshold. <a href="#8f5b71d10d7b11ebd5e63197900dfb21"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#148f1bb397893b999c65e073ed5d6545">getMCLocalizationScore</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the localization score based on Monte Carlo only. <a href="#148f1bb397893b999c65e073ed5d6545"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#596c49de848f2c05afd46255b1435494">getRefLocalizationScore</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the localization score based on reflectors only. <a href="#596c49de848f2c05afd46255b1435494"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="140609107bd8d86775854d567747222c"></a><!-- doxytag: member="ArLocalizationTask::getSensorBelief" ref="140609107bd8d86775854d567747222c" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#140609107bd8d86775854d567747222c">getSensorBelief</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the sensor belief. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="13fa66d9a4c5913eb6ecee824eb981b1"></a><!-- doxytag: member="ArLocalizationTask::getCurrentLocaPose" ref="13fa66d9a4c5913eb6ecee824eb981b1" args="(void)" -->
ArPose </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#13fa66d9a4c5913eb6ecee824eb981b1">getCurrentLocaPose</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the last successful MCLocalized pose. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ed6c6c077dd76bccea615ebe62f90d18"></a><!-- doxytag: member="ArLocalizationTask::getStdX" ref="ed6c6c077dd76bccea615ebe62f90d18" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getStdX</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f799df2e20c3db41196834a12ed7c4f6"></a><!-- doxytag: member="ArLocalizationTask::getStdY" ref="f799df2e20c3db41196834a12ed7c4f6" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getStdY</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="48c230b57cf58b5a124e8fcf0725e109"></a><!-- doxytag: member="ArLocalizationTask::getStdTh" ref="48c230b57cf58b5a124e8fcf0725e109" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getStdTh</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a4e2a0a0499eef3fb828da0eaba0af82"></a><!-- doxytag: member="ArLocalizationTask::getErrorMmPerMm" ref="a4e2a0a0499eef3fb828da0eaba0af82" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getErrorMmPerMm</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8063f523a20336c5409071936c997ecd"></a><!-- doxytag: member="ArLocalizationTask::getErrorDegPerDeg" ref="8063f523a20336c5409071936c997ecd" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getErrorDegPerDeg</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3e2b62cbdef89ad009467c3ee6828aab"></a><!-- doxytag: member="ArLocalizationTask::getErrorDegPerMm" ref="3e2b62cbdef89ad009467c3ee6828aab" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getErrorDegPerMm</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5feeaabfd19dac7b75aa8f92aa1ff72a"></a><!-- doxytag: member="ArLocalizationTask::getSensorBelief" ref="5feeaabfd19dac7b75aa8f92aa1ff72a" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getSensorBelief</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0459b6a9f338a7e8682fc0bb24816a43"></a><!-- doxytag: member="ArLocalizationTask::getPeakFactor" ref="0459b6a9f338a7e8682fc0bb24816a43" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeakFactor</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="19428930252380d6c060b63f58ac96d5"></a><!-- doxytag: member="ArLocalizationTask::getOccThreshold" ref="19428930252380d6c060b63f58ac96d5" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getOccThreshold</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f901e3bcdbc850d1c379038ac2ac51e9"></a><!-- doxytag: member="ArLocalizationTask::getGridRes" ref="f901e3bcdbc850d1c379038ac2ac51e9" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getGridRes</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b07f0927ab10ebea77a6dcde48e109ab"></a><!-- doxytag: member="ArLocalizationTask::getMapName" ref="b07f0927ab10ebea77a6dcde48e109ab" args="(void)" -->
char * </td><td class="memItemRight" valign="bottom"><b>getMapName</b> (void)</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8fb30638ba9fd0965a1d898ec2d83420"></a><!-- doxytag: member="ArLocalizationTask::getPeturbRangeX" ref="8fb30638ba9fd0965a1d898ec2d83420" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeturbRangeX</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4270abb114221919b69614376aa7d1e4"></a><!-- doxytag: member="ArLocalizationTask::getPeturbRangeY" ref="4270abb114221919b69614376aa7d1e4" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeturbRangeY</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="47e1a61c245db69fdab141aa73df485e"></a><!-- doxytag: member="ArLocalizationTask::getPeturbRangeTh" ref="47e1a61c245db69fdab141aa73df485e" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeturbRangeTh</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7e9f8660c712fb447fd9ed037c6d9145"></a><!-- doxytag: member="ArLocalizationTask::getFailedRangeX" ref="7e9f8660c712fb447fd9ed037c6d9145" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getFailedRangeX</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="dd2d7e72198928340a1647b5ef384d74"></a><!-- doxytag: member="ArLocalizationTask::getFailedRangeY" ref="dd2d7e72198928340a1647b5ef384d74" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getFailedRangeY</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e513701e1c91c012acad9c3730f3a4ad"></a><!-- doxytag: member="ArLocalizationTask::getFailedRangeTh" ref="e513701e1c91c012acad9c3730f3a4ad" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getFailedRangeTh</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5ab5031666505fa70cf3f8fb608a24f1"></a><!-- doxytag: member="ArLocalizationTask::getPeakStdX" ref="5ab5031666505fa70cf3f8fb608a24f1" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeakStdX</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1f22bea574ca89fe75a9c15e5495868c"></a><!-- doxytag: member="ArLocalizationTask::getPeakStdY" ref="1f22bea574ca89fe75a9c15e5495868c" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeakStdY</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="84566a25227c5dbfb2dcb8ee82aa05d3"></a><!-- doxytag: member="ArLocalizationTask::getPeakStdTh" ref="84566a25227c5dbfb2dcb8ee82aa05d3" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getPeakStdTh</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="21b55051c4c68cb09143ed0990329edb"></a><!-- doxytag: member="ArLocalizationTask::getAngleIncrement" ref="21b55051c4c68cb09143ed0990329edb" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getAngleIncrement</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0eec2253ce5406f29bc4d696027fbee6"></a><!-- doxytag: member="ArLocalizationTask::getKillThreshold" ref="0eec2253ce5406f29bc4d696027fbee6" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><b>getKillThreshold</b> (void) const </td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="47e9e89d2d3686129a273502376c38d5"></a><!-- doxytag: member="ArLocalizationTask::getAriaMap" ref="47e9e89d2d3686129a273502376c38d5" args="(void)" -->
ArMapInterface * </td><td class="memItemRight" valign="bottom"><b>getAriaMap</b> (void)</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="abb4065ddc9378034beb9f651aea7a3b"></a><!-- doxytag: member="ArLocalizationTask::getBufferSize" ref="abb4065ddc9378034beb9f651aea7a3b" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#abb4065ddc9378034beb9f651aea7a3b">getBufferSize</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan Buffer size. (internal laser scan buffer). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="51ca80c6465fb5244ec3554512d7a53c"></a><!-- doxytag: member="ArLocalizationTask::getXYBuffer" ref="51ca80c6465fb5244ec3554512d7a53c" args="(void)" -->
std::vector< ArPose > </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#51ca80c6465fb5244ec3554512d7a53c">getXYBuffer</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan Buffer XY. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0888968d49fc6948dc308107c0b9adf7"></a><!-- doxytag: member="ArLocalizationTask::getBufferPose" ref="0888968d49fc6948dc308107c0b9adf7" args="(void)" -->
ArPose </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0888968d49fc6948dc308107c0b9adf7">getBufferPose</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan Buffer pose taken. (internal laser scan buffer). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d7e2d04480b92ff71591e0ba9580835c"></a><!-- doxytag: member="ArLocalizationTask::getOccGridPtr" ref="d7e2d04480b92ff71591e0ba9580835c" args="(void)" -->
ArOccGrid * </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d7e2d04480b92ff71591e0ba9580835c">getOccGridPtr</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns pointer to the occgrid. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual std::list< ArPose > </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4233c8676f07bec46818968f94d1368e">getCurrentSamplePoses</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the pose samples for client. <a href="#4233c8676f07bec46818968f94d1368e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf11303e5e4eb3def5d55bdc1171d64b"></a><!-- doxytag: member="ArLocalizationTask::getRecoverOnFailedFlag" ref="bf11303e5e4eb3def5d55bdc1171d64b" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bf11303e5e4eb3def5d55bdc1171d64b">getRecoverOnFailedFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the recoverOnFailed flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b7cfe3f1310d008cc5fc3df30ddbfb56"></a><!-- doxytag: member="ArLocalizationTask::getIgnoreIllegalPoseFlag" ref="b7cfe3f1310d008cc5fc3df30ddbfb56" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#b7cfe3f1310d008cc5fc3df30ddbfb56">getIgnoreIllegalPoseFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag which allows poses overlaping occupied points on map. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="25a0d6f1106c2ff7f91b73e3b5015f2c"></a><!-- doxytag: member="ArLocalizationTask::getAdjustNumSamplesFlag" ref="25a0d6f1106c2ff7f91b73e3b5015f2c" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#25a0d6f1106c2ff7f91b73e3b5015f2c">getAdjustNumSamplesFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag which allows for changing numSamples with loca score. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f8bf501008f0b95fac5ace86d5b65fcb"></a><!-- doxytag: member="ArLocalizationTask::getMinNumSamples" ref="f8bf501008f0b95fac5ace86d5b65fcb" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f8bf501008f0b95fac5ace86d5b65fcb">getMinNumSamples</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the minimum no of samples the localization will drop to. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="799d754314c1a30af617e3072b13b51d"></a><!-- doxytag: member="ArLocalizationTask::getNumSamplesAngleFactor" ref="799d754314c1a30af617e3072b13b51d" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#799d754314c1a30af617e3072b13b51d">getNumSamplesAngleFactor</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the rotation factor for adjusting no of samples with score. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="26414579b521a99ee9f029f618e546e3"></a><!-- doxytag: member="ArLocalizationTask::getSensorSetFlag" ref="26414579b521a99ee9f029f618e546e3" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#26414579b521a99ee9f029f618e546e3">getSensorSetFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the value of the sensor set flag which indicates new cycle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="65e4d07cbb1fc711546d458bf9f0cd90"></a><!-- doxytag: member="ArLocalizationTask::getEnableReflectorLocalizationFlag" ref="65e4d07cbb1fc711546d458bf9f0cd90" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#65e4d07cbb1fc711546d458bf9f0cd90">getEnableReflectorLocalizationFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag to fuse all sensors. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="267d7bed9dd997c1aaa9af9083673dd3"></a><!-- doxytag: member="ArLocalizationTask::getReflectorVar" ref="267d7bed9dd997c1aaa9af9083673dd3" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#267d7bed9dd997c1aaa9af9083673dd3">getReflectorVar</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the variance in the XY for the reflector centers. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6c550e26abaf4c667a9b26c60d23565e"></a><!-- doxytag: member="ArLocalizationTask::getReflectorMatchDist" ref="6c550e26abaf4c667a9b26c60d23565e" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#6c550e26abaf4c667a9b26c60d23565e">getReflectorMatchDist</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the radius to search for a reflector to match a given reflection. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="de4aea3165fb6c4b2cb2ae13b7638f88"></a><!-- doxytag: member="ArLocalizationTask::getReflectorMatchAngle" ref="de4aea3165fb6c4b2cb2ae13b7638f88" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#de4aea3165fb6c4b2cb2ae13b7638f88">getReflectorMatchAngle</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the angle to search for a reflector to match a given reflection. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0e65a10fadec0d7bca570c408b4ca0b1"></a><!-- doxytag: member="ArLocalizationTask::getReflectorMaxRange" ref="0e65a10fadec0d7bca570c408b4ca0b1" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0e65a10fadec0d7bca570c408b4ca0b1">getReflectorMaxRange</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the maximum distance the reflector can be seen. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b96bfaf05d3e4506b4008606ac33a294"></a><!-- doxytag: member="ArLocalizationTask::getReflectorMaxAngle" ref="b96bfaf05d3e4506b4008606ac33a294" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#b96bfaf05d3e4506b4008606ac33a294">getReflectorMaxAngle</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the maximum incident angle the reflector can be seen. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2095fcd5cd905203474be0c96d9dee37"></a><!-- doxytag: member="ArLocalizationTask::getReflectorSize" ref="2095fcd5cd905203474be0c96d9dee37" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#2095fcd5cd905203474be0c96d9dee37">getReflectorSize</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the reflector size param. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="89f81db5e94804701e6fb23ffe5cebbb"></a><!-- doxytag: member="ArLocalizationTask::getReflectanceThreshold" ref="89f81db5e94804701e6fb23ffe5cebbb" args="(void)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#89f81db5e94804701e6fb23ffe5cebbb">getReflectanceThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the reflectance threshold. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="163a68ca5bf7039635ff54e9f7325c6a"></a><!-- doxytag: member="ArLocalizationTask::getBypassMCLFlag" ref="163a68ca5bf7039635ff54e9f7325c6a" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#163a68ca5bf7039635ff54e9f7325c6a">getBypassMCLFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag which decides to bypasses MCL and use reflectors. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="256359c8977ec7af87ad8d5120edc840"></a><!-- doxytag: member="ArLocalizationTask::getReflectorTriDistLimit" ref="256359c8977ec7af87ad8d5120edc840" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#256359c8977ec7af87ad8d5120edc840">getReflectorTriDistLimit</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the triangulation dist limit. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="547f192eea11aa670e56ca7cc777c168"></a><!-- doxytag: member="ArLocalizationTask::getReflectorTriAngLimit" ref="547f192eea11aa670e56ca7cc777c168" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#547f192eea11aa670e56ca7cc777c168">getReflectorTriAngLimit</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the triangulation angle limit. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f55a5a3df5914afa578a4f496551987a"></a><!-- doxytag: member="ArLocalizationTask::getBadReflectorFactor" ref="f55a5a3df5914afa578a4f496551987a" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f55a5a3df5914afa578a4f496551987a">getBadReflectorFactor</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the bad reflector factor. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ArMatrix </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0fce008f71a6a21c1c12f42725a2a5e4">getQParams</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the bad reflector factor. <a href="#0fce008f71a6a21c1c12f42725a2a5e4"></a><br></td></tr>
<tr><td colspan="2"><div class="groupHeader">Functions used internally by ARNL</div></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#042dbaa5968dcbef85a39097e7118f05">fillHistogram</a> (double *&hist, double *&cumSum, int &numSamples)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fill prob distribution histogram for debugging. <a href="#042dbaa5968dcbef85a39097e7118f05"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#69cf1e10d3ae662c7aa522c04692523e">scanToGlobalCoords</a> (ArPose robPose, std::vector< ArPose > &xyLrf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert the laser data to x and y coord array. <a href="#69cf1e10d3ae662c7aa522c04692523e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8aeb74826d037955317b7b65e89cf2ca"></a><!-- doxytag: member="ArLocalizationTask::getLastLocaTime" ref="8aeb74826d037955317b7b65e89cf2ca" args="(void)" -->
ArTime </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#8aeb74826d037955317b7b65e89cf2ca">getLastLocaTime</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the last loca time to now. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1cf4fe008b9144d74b7b7674aa014de3">setLocaParams</a> (double xStd, double yStd, double tStd, double kMmPerMm, double kDegPerDeg, double kDegPerMm, double sensorBelief)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set all the parameters for localization. <a href="#1cf4fe008b9144d74b7b7674aa014de3"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="364266a49f61fec08b84f13a56683e35"></a><!-- doxytag: member="ArLocalizationTask::setIgnoreIllegalPoseFlag" ref="364266a49f61fec08b84f13a56683e35" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#364266a49f61fec08b84f13a56683e35">setIgnoreIllegalPoseFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag which allows poses overlaping occupied points on map. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c017b603fe88162951a247d1e6199145"></a><!-- doxytag: member="ArLocalizationTask::setAdjustNumSamplesFlag" ref="c017b603fe88162951a247d1e6199145" args="(bool f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c017b603fe88162951a247d1e6199145">setAdjustNumSamplesFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag which changes numSamples with the localization score. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a4027e0bd9e65acc650fa5a707a39fe5"></a><!-- doxytag: member="ArLocalizationTask::setMinNumSamples" ref="a4027e0bd9e65acc650fa5a707a39fe5" args="(int n)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a4027e0bd9e65acc650fa5a707a39fe5">setMinNumSamples</a> (int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the minimum no of samples the localization will drop to. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1e8f481aeb6c32ca9ab413ca46e1c45c"></a><!-- doxytag: member="ArLocalizationTask::setNumSamplesAngleFactor" ref="1e8f481aeb6c32ca9ab413ca46e1c45c" args="(double f)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#1e8f481aeb6c32ca9ab413ca46e1c45c">setNumSamplesAngleFactor</a> (double f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the rotation factor for adjusting no of samples with score. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3b5aa090e33f9e2f7e5cc77e8b778ee3"></a><!-- doxytag: member="ArLocalizationTask::setLastLocaTimeToNow" ref="3b5aa090e33f9e2f7e5cc77e8b778ee3" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#3b5aa090e33f9e2f7e5cc77e8b778ee3">setLastLocaTimeToNow</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the last loca time to now. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f3cbbc758daaff32eb60dffe10d37cee"></a><!-- doxytag: member="ArLocalizationTask::setSensorSetFlag" ref="f3cbbc758daaff32eb60dffe10d37cee" args="(bool p)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f3cbbc758daaff32eb60dffe10d37cee">setSensorSetFlag</a> (bool p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the value of the sensor set flag which indicates new cycle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bb81de74b4dcbc537762c0546fcdb0bd">computeLastLocaMeanVar</a> (ArPose &mean, ArMatrix &Var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The compute the mean and var as soon as MCL finds a pose. <a href="#bb81de74b4dcbc537762c0546fcdb0bd"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#aea773697292601401f9c334c07b401e">findMCLMeanVar</a> (ArPose &mean, ArMatrix &Var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Finds the mean and var of MCL after moving to present pose. <a href="#aea773697292601401f9c334c07b401e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#dcdb0031f524e302d9a4cbdd7fa1c77f">findLocalizationMeanVar</a> (ArPose &mean, ArMatrix &Var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The actual mean var calculator for the virtual in the base class. <a href="#dcdb0031f524e302d9a4cbdd7fa1c77f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="88c2e8ddf1911320caeea2ea6778b4d5"></a><!-- doxytag: member="ArLocalizationTask::setCorrectRobotFlag" ref="88c2e8ddf1911320caeea2ea6778b4d5" args="(bool f)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#88c2e8ddf1911320caeea2ea6778b4d5">setCorrectRobotFlag</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the flag deciding whether to reflect localized pose onto the robot. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#fcaa0fed44123fe941d5c9fdd8333226">setRobotPose</a> (ArPose pose, ArPose spread=ArPose(0, 0, 0), int nSam=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to set the robot pose usually at the start of localization. <a href="#fcaa0fed44123fe941d5c9fdd8333226"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="089dd38a26726544962e01061208c7b0"></a><!-- doxytag: member="ArLocalizationTask::getRobotIsLostFlag" ref="089dd38a26726544962e01061208c7b0" args="(void)" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#089dd38a26726544962e01061208c7b0">getRobotIsLostFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the lost flag. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a1fb43d3d58a0e68dd57a8192225d0ce"></a><!-- doxytag: member="ArLocalizationTask::setLocalizationIdle" ref="a1fb43d3d58a0e68dd57a8192225d0ce" args="(bool f)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a1fb43d3d58a0e68dd57a8192225d0ce">setLocalizationIdle</a> (bool f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the localization idle. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="16785207859d9a7d3fefcd8571ab37aa"></a><!-- doxytag: member="ArLocalizationTask::getEncoderToLocalizationTransform" ref="16785207859d9a7d3fefcd8571ab37aa" args="(void)" -->
virtual ArTransform </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#16785207859d9a7d3fefcd8571ab37aa">getEncoderToLocalizationTransform</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the transform from the encoder to the laser. <br></td></tr>
<tr><td colspan="2"><br><h2>Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c23da47e3d0b8f5d8b719d32c6eac381">basicInitialization</a> (ArRobot *robot, ArRangeDevice *laser)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Basic initializer (internal use only). <a href="#c23da47e3d0b8f5d8b719d32c6eac381"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#98c9d691bdf1e69a59bee5a41cad2288">runThread</a> (void *ptr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function used to run the task as a thread. <a href="#98c9d691bdf1e69a59bee5a41cad2288"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0c45146e44c9514ca631d74cf5d9e3d5">correctPoseFromSensor</a> (double increment, bool rayTrace, bool ignoreBadProb)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function which does the main eqn for the actual MCL localization. <a href="#0c45146e44c9514ca631d74cf5d9e3d5"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2957c5c7802da37f84a78c3e94f42f30"></a><!-- doxytag: member="ArLocalizationTask::getLocalizedFlag" ref="2957c5c7802da37f84a78c3e94f42f30" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#2957c5c7802da37f84a78c3e94f42f30">getLocalizedFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the localized flag. (do not use). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ee957e03b5e00a96d32ca6006973c3ed"></a><!-- doxytag: member="ArLocalizationTask::getLocalizingFlag" ref="ee957e03b5e00a96d32ca6006973c3ed" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#ee957e03b5e00a96d32ca6006973c3ed">getLocalizingFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the localizing flag value. To avoid multiple localizing threads. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bbf93ee53e36767086c5c6f15ada723f"></a><!-- doxytag: member="ArLocalizationTask::getRobotMovedFlag" ref="bbf93ee53e36767086c5c6f15ada723f" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bbf93ee53e36767086c5c6f15ada723f">getRobotMovedFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the robot moved flag value. (Moved after last localization). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c831c7e5a7b752c511e43fe051f2dc3b"></a><!-- doxytag: member="ArLocalizationTask::getCorrectRobotFlag" ref="c831c7e5a7b752c511e43fe051f2dc3b" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#c831c7e5a7b752c511e43fe051f2dc3b">getCorrectRobotFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag indicating if localization result will be set on robot. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="08e14ddb1961ade945b5112ace14a57e"></a><!-- doxytag: member="ArLocalizationTask::getLogFlag" ref="08e14ddb1961ade945b5112ace14a57e" args="(void)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#08e14ddb1961ade945b5112ace14a57e">getLogFlag</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the flag indicating if logging. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="75b87dbbd7b790b2112e882a8fa6c37a"></a><!-- doxytag: member="ArLocalizationTask::setLocalizedFlag" ref="75b87dbbd7b790b2112e882a8fa6c37a" args="(bool a)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#75b87dbbd7b790b2112e882a8fa6c37a">setLocalizedFlag</a> (bool a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the localized flag value. (do not use). <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="128e2d8e388daa937c23be07e5fb21d8"></a><!-- doxytag: member="ArLocalizationTask::setInitializedFlag" ref="128e2d8e388daa937c23be07e5fb21d8" args="(bool a)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#128e2d8e388daa937c23be07e5fb21d8">setInitializedFlag</a> (bool a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the initialized flag value indicating robot was localized or not. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a765bffc203185daccf10b84f3ba36e0"></a><!-- doxytag: member="ArLocalizationTask::setRobotMovedFlag" ref="a765bffc203185daccf10b84f3ba36e0" args="(bool a)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a765bffc203185daccf10b84f3ba36e0">setRobotMovedFlag</a> (bool a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the robot moved flag to set off MCL. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#73b1b865d841bec26975d3a3e360d781">initializeSamples</a> (int numSamples)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the MCL samples. <a href="#73b1b865d841bec26975d3a3e360d781"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#bf3a69d36cba5fcdac74bb0c2c3bef2a">scanLaserIntoArray</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the laser buffer into data structure. <a href="#bf3a69d36cba5fcdac74bb0c2c3bef2a"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ArOccGrid * </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#b2a2ac2ccd851d0713e2ed207448e925">initializeOccGrid</a> (double res, ArMapInterface *ariaMap, bool lockMap=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set resolution of the occupancy grid and fill it. <a href="#b2a2ac2ccd851d0713e2ed207448e925"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#78eb084d33e2b5396546e34d51f286f5">killBadSamples</a> (double obsThreshold)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Legalize samples to eliminate illegal location such as on obstacles. <a href="#78eb084d33e2b5396546e34d51f286f5"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#82bd7ad49ec8ae3da3cf54acd92b2cda">saveSamples</a> (bool saveFile=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save samples for backup. <a href="#82bd7ad49ec8ae3da3cf54acd92b2cda"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f11585e1c129de81724cb84b7786f893">findBestPoses</a> (ArRobotPoseSamples *mrsp, double factor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find the best poses by looking at prob distribution peaks. <a href="#f11585e1c129de81724cb84b7786f893"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d6752b193aaa0b36332823bf388b6f19"></a><!-- doxytag: member="ArLocalizationTask::getNumBestPoses" ref="d6752b193aaa0b36332823bf388b6f19" args="(ArRobotPoseSamples *mrsp)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#d6752b193aaa0b36332823bf388b6f19">getNumBestPoses</a> (ArRobotPoseSamples *mrsp)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of peaks. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e676af484acbb431c7255a9a6bfe90c1">findSamplesStatistics</a> (double &xMean, double &yMean, double &thMean, double &xStd, double &yStd, double &tStd)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute statistics of samples after localization. <a href="#e676af484acbb431c7255a9a6bfe90c1"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#61478df56612d2a576e3b9feb5c6a4a3">findKalmanMeanVar</a> (ArPose &mean, ArMatrix &var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the state. <a href="#61478df56612d2a576e3b9feb5c6a4a3"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#eba2b25e898f9d8a9fbdb9473972c664">fuseTwoDistributions</a> (ArPose m1, ArMatrix V1, ArPose m2, ArMatrix V2, ArPose &mean, ArMatrix &Var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fuses the stats of two uniform dists into one. <a href="#eba2b25e898f9d8a9fbdb9473972c664"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="73da19fc5974e2c4f1dc081d81c3a903"></a><!-- doxytag: member="ArLocalizationTask::getLocaTime" ref="73da19fc5974e2c4f1dc081d81c3a903" args="()" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#73da19fc5974e2c4f1dc081d81c3a903">getLocaTime</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return time of last good localization. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#ce35a4526ea03cf2770efc378ca43fd1">setMotionErrorParam</a> (int index, double value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set motion error params. <a href="#ce35a4526ea03cf2770efc378ca43fd1"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#784212dc51495405d30316380bc236e3">getMotionErrorParam</a> (int index)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get motion error params. <a href="#784212dc51495405d30316380bc236e3"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4f691ab0dcc13967d10f2ffcf91cc01f">robotCallBack</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensor interpretation callback. Called every 100msec. <a href="#4f691ab0dcc13967d10f2ffcf91cc01f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#2f261729e5817878e072cc16a3ad279a">configureLaser</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Needed if the laser does not connect first. <a href="#2f261729e5817878e072cc16a3ad279a"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#cf3808b321533339e09564f3b4376307">reconfigureLocalization</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Needed if the params are changed or loaded again. <a href="#cf3808b321533339e09564f3b4376307"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0f9b4fd78f974d5d17d7689309960e73"></a><!-- doxytag: member="ArLocalizationTask::setupLocalizationParams" ref="0f9b4fd78f974d5d17d7689309960e73" args="(bool noReflectors=false)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#0f9b4fd78f974d5d17d7689309960e73">setupLocalizationParams</a> (bool noReflectors=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Setup the path planing params with values from ArConfig. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f4bbb822db6052303f695f1adc55af81">failedLocalization</a> (int times)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Actual thing that gets called when localization failed. <a href="#f4bbb822db6052303f695f1adc55af81"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#f57be98347cf8e550fc0161be3205355">dynamicallyAdjustNumSamples</a> (double dr, double dt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the sample size to reflect localization score. <a href="#f57be98347cf8e550fc0161be3205355"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#a0359a1cec3157c80733bc4ef47606da">mapChanged</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function for the things to do if map changes. <a href="#a0359a1cec3157c80733bc4ef47606da"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e56deb15a5971c6b9750cab28149ab22">findPoseFromLandmarks</a> (const std::vector< ArPose > &global, const std::vector< ArPose > &local, ArPose &rPose, ArMatrix &Var)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Solve the triangulation eqn. <a href="#e56deb15a5971c6b9750cab28149ab22"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e542ce59b4f039b600c55760486ed152"></a><!-- doxytag: member="ArLocalizationTask::kalmanFilter" ref="e542ce59b4f039b600c55760486ed152" args="(const std::vector< ArPose > &global, const std::vector< ArPose > &local, ArPose &pose, ArPose &deltaPose, ArPose &delta, bool failedLocalization, ArPose &mean, ArPose &stdDev, ArPose &maxInnov, double &refScore)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#e542ce59b4f039b600c55760486ed152">kalmanFilter</a> (const std::vector< ArPose > &global, const std::vector< ArPose > &local, ArPose &pose, ArPose &deltaPose, ArPose &delta, bool failedLocalization, ArPose &mean, ArPose &stdDev, ArPose &maxInnov, double &refScore)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Solve the Kalman thing. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#72e23dbf44d25980dca0d8bf8a0df698">getReflectionCoords</a> (ArPose &poseTaken, ArPose &rPose, std::vector< ArPose > &gList, std::vector< ArPose > &lList)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find the reflectors in local and global coords. <a href="#72e23dbf44d25980dca0d8bf8a0df698"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#044830a523883fc7de94d07e2e487d05">getReflectorCenterCoords</a> (ArPose &poseTaken, ArPose &rPose, std::vector< ArPose > &gList, std::vector< ArPose > &lList)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find the reflector centers in local and global coords. <a href="#044830a523883fc7de94d07e2e487d05"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#60d687e78e28459978b6e705ff684b1c">fuseSensorWithOdometry</a> (bool failedLocalization)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fuse all the sensor information. <a href="#60d687e78e28459978b6e705ff684b1c"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classArLocalizationTask.html#4ccfea9321745055cab7b5f04aa57597">setFlagsAndCallbacksOnFail</a> (int ntimes)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the flags and call the right callbacks when loca fails ntimes. <a href="#4ccfea9321745055cab7b5f04aa57597"></a><br></td></tr>
</table>
<hr><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" name="88c08118381e60bcecf232915dfc9aba"></a><!-- doxytag: member="ArLocalizationTask::ArLocalizationTask" ref="88c08118381e60bcecf232915dfc9aba" args="(ArRobot *robot, ArRangeDevice *laser, char *mapName)" -->
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<td class="memname">ArLocalizationTask::ArLocalizationTask </td>
<td>(</td>
<td class="paramtype">ArRobot * </td>
<td class="paramname"> <em>robot</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">ArRangeDevice * </td>
<td class="paramname"> <em>laser</em>, </td>
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<td class="paramname"> <em>mapname</em></td><td> </td>
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<p>
Base constructor with all the necessary inputs.
<p>
Constructor.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>robot,:</em> </td><td>Robot data structure. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>laser,:</em> </td><td>Laser data structure. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>mapname,:</em> </td><td>Map file containing environment map. </td></tr>
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<a class="anchor" name="a18b10d2a979b8efdb81676bf364b25b"></a><!-- doxytag: member="ArLocalizationTask::ArLocalizationTask" ref="a18b10d2a979b8efdb81676bf364b25b" args="(ArRobot *robot, ArRangeDevice *laser, ArMapInterface *ariaMap, bool noReflectors=false)" -->
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<td class="memname">ArLocalizationTask::ArLocalizationTask </td>
<td>(</td>
<td class="paramtype">ArRobot * </td>
<td class="paramname"> <em>robot</em>, </td>
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<td></td>
<td class="paramtype">ArRangeDevice * </td>
<td class="paramname"> <em>laser</em>, </td>
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<td class="paramtype">ArMapInterface * </td>
<td class="paramname"> <em>ariaMap</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"> <em>noReflectors</em> = <code>false</code></td><td> </td>
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<p>
Base constructor with all the necessary inputs.
<p>
Constructor.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>robot</em> </td><td>Robot data structure. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>laser</em> </td><td>Laser data structure. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>ariaMap</em> </td><td>Aria map containing environment map. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>noReflectors</em> </td><td>If true, ignore reflector objects in the map and don't try to include them in localization </td></tr>
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<a class="anchor" name="177bf98169a54c71c5cf3df1cd5d78c6"></a><!-- doxytag: member="ArLocalizationTask::~ArLocalizationTask" ref="177bf98169a54c71c5cf3df1cd5d78c6" args="(void)" -->
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<td class="memname">ArLocalizationTask::~ArLocalizationTask </td>
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<td class="paramtype">void </td>
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<td><code> [virtual]</code></td>
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<p>
Base destructor.
<p>
Destructor.
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<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="a8aae87142d4783038311287876acc56"></a><!-- doxytag: member="ArLocalizationTask::localizeRobotInMapInit" ref="a8aae87142d4783038311287876acc56" args="(ArPose given, int numSamples, double stdX, double stdY, double stdT, double thresFactor, bool warn=true, bool setInitializedToFalse=true, bool rayTrace=true)" -->
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<td class="memname">bool ArLocalizationTask::localizeRobotInMapInit </td>
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<td class="paramtype">ArPose </td>
<td class="paramname"> <em>given</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"> <em>numSamples</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>stdX</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>stdY</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>stdT</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>thresFactor</em>, </td>
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<td class="paramname"> <em>warn</em> = <code>true</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"> <em>setInitializedToFalse</em> = <code>true</code>, </td>
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<td class="paramname"> <em>rayTraceFlag</em> = <code>true</code></td><td> </td>
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<p>
Localization function mainly for initialization of robot at given pose.
<p>
Perform an initial map localization. This function is meant to find a robot in the map without motion. The error parameters fed to the localization are temporary and will be reset to the old values after the localization.<p>
This is mostly for internal use, or to do a localization after forcing a change in robot pose with alternative values for parameters given (used instead of values from ArConfig).<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classArLocalizationTask.html#fe38e3fc30d46cc2ab2c348366ccdf6b" title="Try initial localization at each home point at the map, \ and set the robot pose...">localizeRobotAtHomeBlocking()</a> <p>
<a class="el" href="classArLocalizationTask.html#35969f66db214d2fa1f606dbde01a407" title="Request that the task later localize the robot at a map home \ position, then return...">localizeRobotAtHomeNonBlocking()</a></dd></dl>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>given,:</em> </td><td>Pose to start localization at. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>numSamples,:</em> </td><td>No of samples to be used in the MCL algorithm. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>stdX,:</em> </td><td>Standard deviation in the X coords in mm. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>stdY,:</em> </td><td>Standard deviation in the Y coords in mm. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>stdT,:</em> </td><td>Standard deviation in the Theta coords in degs. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>thresFactor,:</em> </td><td>Factor deciding the threshold for a match. +ve(0-1). Generally must allow at least .1 (10%). </td></tr>
<tr><td valign="top"></td><td valign="top"><em>warn,:</em> </td><td>Flag to warning if loca score is too low.</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>true if successful false if not. </dd></dl>
<p>
Interpolating the pose at any given time.
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<a class="anchor" name="9eda6f04ec9d1e6ef9c78ab4ead096d9"></a><!-- doxytag: member="ArLocalizationTask::localizeRobotInMapMoved" ref="9eda6f04ec9d1e6ef9c78ab4ead096d9" args="(int numSamples, double distFactor, double angFactor, double thresFactor)" -->
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<td class="memname">bool ArLocalizationTask::localizeRobotInMapMoved </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>distFactor</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>angFactor</em>, </td>
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<td class="paramtype">double </td>
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<p>
Function used to do the localization after motion (normally called automatically by the background task).
<p>
This is the actual function doing the Monte Carlo Markov Localization during most of the time once the localization is initialized and the robot is moving. This function calls the appropriate functions in the ArRobotPoseSamples to compute the most likely pose given a current robot pose and the sensor reading.
<p>
Interpolating the pose at any given time.
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<a class="anchor" name="5f03ae43cbb2d0ca0f0c9d4277858fa1"></a><!-- doxytag: member="ArLocalizationTask::localizeRobotAtHomeBlocking" ref="5f03ae43cbb2d0ca0f0c9d4277858fa1" args="(double distSpread, double angleSpread, double probThreshold)" -->
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<td class="memname">bool ArLocalizationTask::localizeRobotAtHomeBlocking </td>
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<td class="paramtype">double </td>
<td class="paramname"> <em>distSpread</em>, </td>
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