model

SLAM.Mapping.RGBDLandmarkMap

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
constant	`imageHeight`	`Integer`	`= 90`
constant	`imageWidth`	`Integer`	`= 160`
constant	`mapCapacity`	`Integer`	`= imageHeight*imageWidth`
constant	`featureCapacity`	`Integer`	`= 350`
constant	`dimension`	`Integer`	`= 3`
parameter	`coordinateLimit`	`Real`	`= 1e6`
parameter	`voxelWidth`	`Real`	`= 0.25`
parameter	`mergeRadius`	`Real`	`= 0.15`
parameter	`maximumDistance`	`Real`	`= 80.0`
parameter	`tentativeLifetime`	`Real`	`= 0.5`
parameter	`confirmedLifetime`	`Real`	`= 5.0`
parameter	`confirmationObservations`	`Real`	`= 3.0`
parameter	`maximumConfidence`	`Real`	`= 8.0`
parameter	`maximumTentative`	`Real`	`= 700.0`
input	`previousPoint`	`Real`	`[mapCapacity,dimension] = zeros(mapCapacity,dimension)`
input	`previousOccupied`	`Real`	`[mapCapacity] = zeros(mapCapacity)`
input	`previousConfidence`	`Real`	`[mapCapacity] = zeros(mapCapacity)`
input	`previousLastSeen`	`Real`	`[mapCapacity] = zeros(mapCapacity)`
input	`previousLastFrame`	`Real`	`[mapCapacity] = zeros(mapCapacity)`
input	`candidatePoint`	`Real`	`[featureCapacity,dimension] = zeros(featureCapacity,dimension)`
input	`candidateEnabled`	`Real`	`[featureCapacity] = zeros(featureCapacity)`
input	`candidateCount`	`Real`	`= 0.0`
input	`bodyPosition`	`Real`	`[dimension] = zeros(dimension)`
input	`poseAccepted`	`Real`	`= 1.0`
input	`previousTime`	`Real`	`= 0.0`
input	`timeNow`	`Real`	`= 0.0`
input	`previousFrame`	`Real`	`= 0.0`
input	`frameNow`	`Real`	`= 1.0`
input	`previousWorldFrame`	`Real`	`= 0.0`
input	`worldFrame`	`Real`	`= 0.0`
input	`resetRequested`	`Real`	`= 0.0`
output	`point`	`Real`	`[mapCapacity,dimension]`
output	`occupied`	`Real`	`[mapCapacity]`
output	`confidence`	`Real`	`[mapCapacity]`
output	`lastSeen`	`Real`	`[mapCapacity]`
output	`lastFrame`	`Real`	`[mapCapacity]`
output	`confirmed`	`Real`	`[mapCapacity]`
output	`accepted`	`Real`
output	`rejectionReason`	`Real`
output	`nextTime`	`Real`
output	`nextFrame`	`Real`
output	`nextWorldFrame`	`Real`
output	`occupiedCount`	`Real`
output	`confirmedCount`	`Real`
output	`tentativeCount`	`Real`
output	`insertedCount`	`Real`
output	`mergedCount`	`Real`
output	`prunedCount`	`Real`
output	`droppedCount`	`Real`
output	`invalidCandidateCount`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDLandmarkMap
  import UpdateLandmarkMap = SLAM.Mapping.UpdateLandmarkMap;

  constant Integer imageHeight = 90;
  constant Integer imageWidth = 160;
  constant Integer mapCapacity = imageHeight*imageWidth;
  constant Integer featureCapacity = 350;
  constant Integer dimension = 3;
  parameter Real coordinateLimit = 1e6;
  parameter Real voxelWidth = 0.25;
  parameter Real mergeRadius = 0.15;
  parameter Real maximumDistance = 80.0;
  parameter Real tentativeLifetime = 0.5;
  parameter Real confirmedLifetime = 5.0;
  parameter Real confirmationObservations = 3.0;
  parameter Real maximumConfidence = 8.0;
  parameter Real maximumTentative = 700.0;
  input Real previousPoint[mapCapacity,dimension] = zeros(mapCapacity,dimension);
  input Real previousOccupied[mapCapacity] = zeros(mapCapacity);
  input Real previousConfidence[mapCapacity] = zeros(mapCapacity);
  input Real previousLastSeen[mapCapacity] = zeros(mapCapacity);
  input Real previousLastFrame[mapCapacity] = zeros(mapCapacity);
  input Real candidatePoint[featureCapacity,dimension] = zeros(featureCapacity,dimension);
  input Real candidateEnabled[featureCapacity] = zeros(featureCapacity);
  input Real candidateCount = 0.0;
  input Real bodyPosition[dimension] = zeros(dimension);
  input Real poseAccepted = 1.0;
  input Real previousTime = 0.0;
  input Real timeNow = 0.0;
  input Real previousFrame = 0.0;
  input Real frameNow = 1.0;
  input Real previousWorldFrame = 0.0;
  input Real worldFrame = 0.0;
  input Real resetRequested = 0.0;
  output Real point[mapCapacity,dimension];
  output Real occupied[mapCapacity];
  output Real confidence[mapCapacity];
  output Real lastSeen[mapCapacity];
  output Real lastFrame[mapCapacity];
  output Real confirmed[mapCapacity];
  output Real accepted; output Real rejectionReason;
  output Real nextTime; output Real nextFrame; output Real nextWorldFrame;
  output Real occupiedCount; output Real confirmedCount; output Real tentativeCount;
  output Real insertedCount; output Real mergedCount; output Real prunedCount;
  output Real droppedCount; output Real invalidCandidateCount;
equation
  (point,occupied,confidence,lastSeen,lastFrame,confirmed,accepted,rejectionReason,nextTime,nextFrame,nextWorldFrame,
    occupiedCount,confirmedCount,tentativeCount,insertedCount,mergedCount,prunedCount,droppedCount,invalidCandidateCount) =
    UpdateLandmarkMap(previousPoint,previousOccupied,previousConfidence,previousLastSeen,previousLastFrame,candidatePoint,candidateEnabled,
      candidateCount,bodyPosition,poseAccepted,previousTime,timeNow,previousFrame,frameNow,previousWorldFrame,worldFrame,resetRequested,
      coordinateLimit,voxelWidth,mergeRadius,maximumDistance,tentativeLifetime,confirmedLifetime,confirmationObservations,maximumConfidence,maximumTentative);
end RGBDLandmarkMap;