SLAM
submapstruct.h
1 #ifndef SUBMAPSTRUCT
2 #define SUBMAPSTRUCT
3 
4 #include <armadillo>
5 #include "datastructures.h"
6 
7 using namespace arma;
8 
12 struct submap_t {
13  submap_t() {
14  this->firstAreaIndex = -1;
15  this->lastAreaIndex = -1;
16  this->absoluteRotation = eye<mat>(2, 2);
17  this->absoluteTranslation = zeros<vec>(2);
18  this->position = new robotPosition_t();
19  this->landmarksCount = 100;
20  this->landmarksAdded = 0;
21  this->landmarksPosition = zeros<mat>(this->landmarksCount, 2);
22  this->landmarks = new landmark_t*[this->landmarksCount];
23  }
24 
25  ~submap_t() {
26  delete this->landmarks;
27  delete this->position;
28  }
29 
36  mat allPoints;
41  void addLandmark(QPointF *point);
42 };
43 
44 #endif // SUBMAPSTRUCT
45 
mat allPoints
Definition: submapstruct.h:36
int landmarksAdded
Definition: submapstruct.h:33
int lastAreaIndex
Definition: submapstruct.h:31
Struktura k ukládáná submap.
Definition: submapstruct.h:12
int landmarksCount
Definition: submapstruct.h:32
Struktura k ukládání důležitých objektů jako rohy a hrany.
Definition: datastructures.h:152
mat absoluteRotation
Definition: submapstruct.h:34
landmark_t ** landmarks
Definition: submapstruct.h:38
vec absoluteTranslation
Definition: submapstruct.h:35
Struktura k ukládáná pozice robota. Aktuální pozice je vždy [0, 0].
Definition: datastructures.h:121
robotPosition_t * position
Definition: submapstruct.h:37
int firstAreaIndex
Definition: submapstruct.h:30
mat landmarksPosition
Definition: submapstruct.h:39