ArInterpolation Class Reference

#include <ArInterpolation.h>

List of all members.

Public Member Functions
bool	addReading (ArTime timeOfReading, ArPose position)
	Adds a new reading.
	ArInterpolation (size_t numberOfReadings=100)
	Constructor.
size_t	getNumberOfReadings (void) const
	Gets the number of readings this instance holds back in time.
int	getPose (ArTime timeStamp, ArPose *position)
	Finds a position.
void	reset (void)
	Empties the interpolated positions.
void	setNumberOfReadings (size_t numberOfReadings)
	Sets the number of readings this instance holds back in time.
virtual	~ArInterpolation ()
	Destructor.
Protected Attributes
std::list< ArPose >	myPoses
size_t	mySize
std::list< ArTime >	myTimes

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Detailed Description

This class takes care of storing in readings of position vs time, and then interpolating between them to find where the robot was at a particular point in time. It has two lists, one containing the times, and one containing the positions at those same times (per position), they must be walked through jointly to maintain cohesion. The new entries are at the front of the list, while the old ones are at the back. numberOfReadings and the setNumberOfReadings control the number of entries in the list. If a size is set that is smaller than the current size, then the old ones are chopped off.

Definition at line 44 of file ArInterpolation.h.

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Member Function Documentation

int ArInterpolation::getPose (  ArTime  timeStamp, ArPose *  position )

Finds a position. Parameters: timeStamp  the time we are interested in position  the pose to set to the given position Returns: 1 its good interpolation, 0 its predicting, -1 its too far to predict, -2 its too old, -3 there's not enough data to predict Definition at line 63 of file ArInterpolation.cpp. References ArPose::getTh(), ArPose::getX(), ArPose::getY(), ArTime::isAfter(), ArTime::isAt(), ArTime::mSecSince(), ArPose::setTh(), ArTime::setToNow(), ArPose::setX(), ArPose::setY(), and ArMath::subAngle(). Referenced by ArRobot::getEncoderPoseInterpPosition(), and ArRobot::getPoseInterpPosition().

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

• ArInterpolation.h
• ArInterpolation.cpp

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