View source for Locater - tree row

based on laser scan lines and fluffy lines (tree-rows).
Locater also include row-end detection for the end of the defined lines.
The lines (rows) are defined in the mapbase (mapbase.so.0)

The mapbase plugin (mapbase.so.0) must be loaded first.

Author:  Søren Hansen, amended by Christian Andersen

(for svn version 992)

===Configuration variables===

* keepMapPose=1 - Should locater update map-pose (in the mappose module)
* useRowEnd=1 - (rw) determines if row end detections should be used in locater pose update
* rowEndIn1=4.5 - (rw) distance inside coverage before row end detect when row end is expected out of range
* rowEndIn2=2.5 - (rw) distance inside coverage before row end detect when row end is expected in range
* rowEndMaxGap=2.8 - (rw) Max opening in a detected row to be valid (meter)
* useAvgUpdate=1 - (rw) Flag if averaged update is to be used rather than update for each line individually
* rowToRobotMaxDist=4 - (rw) maximum this far from robot if usable for row end detection.
* rowEndMaxDist=6.5 - (rw) reject row end detections more than this away from expected position (m)
* odoDistScale=1 - (rw) multiplied on driven distance in locater update
* rowExtraLog=0 - (rw) Make extra log of correlations to mapped rows - much data

===Result variables===

* kalmpose=0 0 0    - (r) Pose according to localisation
* updcnt=0 0 0      - (r) Counts number of updates, [0]=scans since last update, [1] number of locater updates, [2]=updates since last miss.

===Functions calls===

* resetstate() - Set the state to the pose (in utmPose) and resets old odoposes
* utmToMap() - Set map pose from the utm pose - when keepMapPose is false only

===Functions commands===

* locater openlog
* locater locate

===Configuration example===
(in laser server configuration file ulmsserver.ini)

 module load="mapbase.so.0"
 mapbase mapload="./apple_cherry_map.xml"
 mapbase graphload="./apple_cherry_graph.xml"
 
 module load="locater.so.0"
 var locater.useRowEnd=1
 var locater.rowEndIn1=4.5
 var locater.rowEndIn2=2.5
 var locater.rowEndMaxGap=2.8
 var locater.useAvgUpdate=1
 var locater.rowEndMinCover=0.33
 var locater.rowEndMaxDist=6.5
 var locater.keepMapPose=1
 locater openlog
 var call="locater.resetstate()"
 scanpush cmd="v360 update"
 v360push cmd="locater locate"