Bratmobile
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#include <disturbance.h>
Public Member Functions | |
BodyFeatures (b2Transform _pose) | |
void | setHalfLength (const float &f) |
void | setHalfWidth (const float &f) |
bool | match (const BodyFeatures &, Bundle *bundle=NULL, b2Transform t=b2Transform_zero) |
float | width () const |
float | length () const |
float | area () const |
std::vector< b2Vec2 > | vertices () const |
std::vector< cv::Point2f > | vertices_cv () const |
bool | is_point () const |
Bundle | get_bundle () |
Contains features of disturbances
bool BodyFeatures::match | ( | const BodyFeatures & | bf, |
Bundle * | bundle = NULL , |
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b2Transform | t = b2Transform_zero |
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Returns true if it matches the input body features
bf | input body features |
v | pointer to float, scalar representing difference between features |
t | estimated 2d transform (matching against an expected disturbance) |