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#619 Adds uncertrainty ellipsis for localization to utils

closed-accepted
Player (393)
5
2010-11-12
2010-08-30
No

This patchset extends the playerv and playernav utilities with an
option to draw an uncertainty ellipsis for localization interfaces
(visualizes the position-part of the covariance matrix).
The common function is added in form of a supporting utility library.

Rationale
---------
Playerv and playernav both are extended with the same functionality.
This functionality could be added to both of them, to en existing
library or to a new one.

Adding the code to both of them is easy, however it makes maintenance
or extensions harder.
The sensible options for existing libraries are:
playercore, playercommon, playerinterface and libplayerc .
However since the function is not a part of any interface, this rules
out libplayercore, libplayerinterface and libplayerc.
playercommon was not usable since it is used by libplayerinterface
and libplayercore, and the function requires libplayerinterface,
resulting in a circular dependency.

Therefore, a new library was created that must not be used by any
of the core parts of player, but only by utilities build on top of
player / playerinterfaces.

Patches (trunk >=rev.8859)
--------------------------
libplayerutil [CMakeLists.txt localization.c localization.h]
This directory contains the source files and build instructions
for a new utility support library. This library currently contains
only the derivation function for the uncertainty ellipsis.
The directory should be copied into the root directory of the
player source.

uncertainty_ellipsis_calculation.patch
Enables the new libplayerutil library and adds it to player.

playernav_uncertainty-ellipsis.patch
Adds support for drawing an uncertainty ellipsis to playernav.
The uncertainty ellipsis can be toggled, like the particles.
This requires the libplayerutil library (dir+patch).

playerv_unvertainty-ellipsis.patch
Adds support for drawing an uncertainty ellipsis to playerv.
This requires the libplayerutil library (dir+patch).

Discussion

  • Thimo Langbehn

    Thimo Langbehn - 2010-08-30

    Archive containing the patches, new library and a README

     
  • Rich Mattes

    Rich Mattes - 2010-11-12
    • status: open --> closed-accepted
     
  • Rich Mattes

    Rich Mattes - 2010-11-12

    The changes have been made in SVN trunk.
    Thank you for your contribution.

     

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