adore::env::BorderBased::Baseline Class Reference

A local, non-linear, smooth road coordinate system generated from a sequence of borders. More...

#include <baseline.h>

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Public Types
using	function_type_xyz = adore::mad::function_type_xyz
using	function_type2d = adore::mad::function_type2d
using	function_type_scalar = adore::mad::function_type_scalar

Public Member Functions
	Baseline ()
void	resize ()
void	setSmoothness (double value)
bool	isValid () const
double	getLookAhead () const
double	getLookBehind () const
void	setLookAhead (double value)
void	setLookBehind (double value)
int	getNSamplePoints () const
int	getNFitPoints () const
void	update (BorderSequence &borderSequence, double soffset)
	compute fit for borderSequence More...
bool	computeDerivatives ()
int	defineOffset (BorderSequence &borderSequence, function_type_scalar *offset, double maximum_offset=10.0)
	define a function, which represents the offset from baseline to the neighboring function More...

Public Attributes
csaps::DoubleArray	breaks_s_
csaps::DoubleArray	breaks_x_
csaps::DoubleArray	breaks_y_
csaps::DoubleArray	breaks_z_
csaps::DoubleArray	samples_s_
csaps::DoubleArray	samples_x_
csaps::DoubleArray	samples_dx_
csaps::DoubleArray	samples_ddx_
csaps::DoubleArray	samples_dddx_
csaps::DoubleArray	samples_y_
csaps::DoubleArray	samples_dy_
csaps::DoubleArray	samples_ddy_
csaps::DoubleArray	samples_dddy_
csaps::DoubleArray	samples_z_
csaps::DoubleArray	samples_dz_
csaps::DoubleArray	samples_ddz_
csaps::DoubleArray	samples_dddz_
csaps::DoubleArray	base_L_
csaps::DoubleArray	base_nx_
csaps::DoubleArray	base_ny_
csaps::DoubleArray	base_kappa_
csaps::DoubleArray	base_dkappa_
function_type_xyz	position_fct_
function_type2d	normal_fct_
function_type_scalar	curvature_fct_
function_type_scalar	curvatureDerivative_fct_

Private Attributes
int	nFitPoints_
int	nSamplesPoints_
double	fit_smoothness_
double	lookbehind_
double	lookahead_
double	min_length_
bool	valid_

Detailed Description

A local, non-linear, smooth road coordinate system generated from a sequence of borders.

Member Typedef Documentation

function_type2d

using adore::env::BorderBased::Baseline::function_type2d = adore::mad::function_type2d

function_type_scalar

using adore::env::BorderBased::Baseline::function_type_scalar = adore::mad::function_type_scalar

function_type_xyz

using adore::env::BorderBased::Baseline::function_type_xyz = adore::mad::function_type_xyz

Constructor & Destructor Documentation

Baseline()

adore::env::BorderBased::Baseline::Baseline ( )

inline

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Member Function Documentation

computeDerivatives()

bool adore::env::BorderBased::Baseline::computeDerivatives ( )

inline

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defineOffset()

int adore::env::BorderBased::Baseline::defineOffset ( BorderSequence &  borderSequence, function_type_scalar *  offset, double  maximum_offset = 10.0  )

inline

define a function, which represents the offset from baseline to the neighboring function

Returns

the number of faults

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getLookAhead()

double adore::env::BorderBased::Baseline::getLookAhead ( ) const

inline

getLookBehind()

double adore::env::BorderBased::Baseline::getLookBehind ( ) const

inline

getNFitPoints()

int adore::env::BorderBased::Baseline::getNFitPoints ( ) const

inline

getNSamplePoints()

int adore::env::BorderBased::Baseline::getNSamplePoints ( ) const

inline

isValid()

bool adore::env::BorderBased::Baseline::isValid ( ) const

inline

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resize()

void adore::env::BorderBased::Baseline::resize ( )

inline

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setLookAhead()

void adore::env::BorderBased::Baseline::setLookAhead ( double  value )

inline

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setLookBehind()

void adore::env::BorderBased::Baseline::setLookBehind ( double  value )

inline

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setSmoothness()

void adore::env::BorderBased::Baseline::setSmoothness ( double  value )

inline

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update()

void adore::env::BorderBased::Baseline::update ( BorderSequence &  borderSequence, double  soffset  )

inline

compute fit for borderSequence

Parameters

borderSequence	the positions to fit against
soffset	the length offset from the borderSequence start used for margin computations

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Member Data Documentation

base_dkappa_

csaps::DoubleArray adore::env::BorderBased::Baseline::base_dkappa_

curvature change over true length

base_kappa_

csaps::DoubleArray adore::env::BorderBased::Baseline::base_kappa_

curvature of xy-curve

base_L_

csaps::DoubleArray adore::env::BorderBased::Baseline::base_L_

recomputed true length values (path integral along (xy)-poly-curve)

base_nx_

csaps::DoubleArray adore::env::BorderBased::Baseline::base_nx_

normal vector of curve (x component)

base_ny_

csaps::DoubleArray adore::env::BorderBased::Baseline::base_ny_

normal vector of curve (y component)

breaks_s_

csaps::DoubleArray adore::env::BorderBased::Baseline::breaks_s_

poly breaks in poly domain

breaks_x_

csaps::DoubleArray adore::env::BorderBased::Baseline::breaks_x_

poly fit points in x

breaks_y_

csaps::DoubleArray adore::env::BorderBased::Baseline::breaks_y_

poly fit points in y

breaks_z_

csaps::DoubleArray adore::env::BorderBased::Baseline::breaks_z_

poly fit points in z

curvature_fct_

function_type_scalar adore::env::BorderBased::Baseline::curvature_fct_

curvatureDerivative_fct_

function_type_scalar adore::env::BorderBased::Baseline::curvatureDerivative_fct_

fit_smoothness_

double adore::env::BorderBased::Baseline::fit_smoothness_

private

smoothness parameter passed to poly regression

lookahead_

double adore::env::BorderBased::Baseline::lookahead_

private

lookbehind_

double adore::env::BorderBased::Baseline::lookbehind_

private

min_length_

double adore::env::BorderBased::Baseline::min_length_

private

nFitPoints_

int adore::env::BorderBased::Baseline::nFitPoints_

private

how many breaks the poly regression of the baseline has

normal_fct_

function_type2d adore::env::BorderBased::Baseline::normal_fct_

nSamplesPoints_

int adore::env::BorderBased::Baseline::nSamplesPoints_

private

at how many points the baseline poly is sampled for linearization

position_fct_

function_type_xyz adore::env::BorderBased::Baseline::position_fct_

function: s-coordinate -> euclidian coordinates for smoothed centerline

samples_dddx_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dddx_

poly dddx/dsss values at sampling points

samples_dddy_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dddy_

poly dddy/dss values at sampling points

samples_dddz_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dddz_

poly dddz/dss values at sampling points

samples_ddx_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_ddx_

poly ddx/dss values at sampling points

samples_ddy_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_ddy_

poly ddy/dss values at sampling points

samples_ddz_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_ddz_

poly ddz/dss values at sampling points

samples_dx_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dx_

poly dx/ds values at sampling points

samples_dy_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dy_

poly dy/ds values at sampling points

samples_dz_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_dz_

poly dz/ds values at sampling points

samples_s_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_s_

poly samples in poly domain

samples_x_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_x_

poly x values at sampling points

samples_y_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_y_

poly y values at sampling points

samples_z_

csaps::DoubleArray adore::env::BorderBased::Baseline::samples_z_

poly z values at sampling points

valid_

bool adore::env::BorderBased::Baseline::valid_

private

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The documentation for this class was generated from the following file:

• /home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/borderbased/baseline.h