3dpcp/.svn/pristine/8c/8c8949ace10703e18fc95bb8e370ebc76e41b112.svn-base
2012-09-16 14:33:11 +02:00

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1.4 KiB
Text

/*
* tracker implementation
*
* Copyright (C) ZhangLiang, YuanJun, Li Wei, Li Ming, Andreas Nuechter
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Main programm for dynamic Velodyne SLAM
*
* @author Andreas Nuechter. Jacobs University Bremen, Germany
* @author YuanJun, Wuhan University, China
* @author ZhangLiang, Wuhan University, China
* @author Li Wei, Wuhan University, China
* @author Li Ming, Wuhan University, China
*/
#include "veloslam/tracker.h"
Tracker::Tracker(void)
{
missMatch=false;
matchClusterID=-1;
colorIdx=-1;
missedTime=0;
trackerID=0;
}
Tracker::~Tracker(void)
{
TrackerReset();
}
Tracker::Tracker(clusterFeature &glu,double rollAngle):kalmanFilter(glu,rollAngle) //added by yuanjun
{
missMatch=false;
matchClusterID=-1;
colorIdx=-1;
missedTime=0;
trackerID=0;
}
Tracker::Tracker(const Tracker &copyTracker) //added by yuanjun
{
missMatch=copyTracker.missMatch;
matchClusterID=copyTracker.matchClusterID;
colorIdx=copyTracker.colorIdx;
statusList=copyTracker.statusList;
dataList=copyTracker.dataList;
kalmanFilter=copyTracker.kalmanFilter;
missedTime=copyTracker.missedTime;
moveStateList=copyTracker.moveStateList;
trackerID=copyTracker.trackerID;
}
void Tracker::TrackerReset()
{
statusList.clear();
dataList.clear();
moveStateList.clear();
return;
}