| Created: | 2015-07-31 오후 4:10:07 |
| Modified: | 2015-07-31 오후 4:10:07 |
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Public CGlobalMap* _globalMap |
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Public CKalmanFilter* _locFilter |
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Private CDeviceLock _lock |
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Public CMagnetContainer* _magnetContainer |
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Public CMagnetContainer* _magnetScanned |
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Public int _navState |
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Public CAstar* _pathContainer |
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Public CPathFollowing* _pathFollow |
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Private CPosture _posturePrev |
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Public bool _saveMagnetScanned |
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Public CWallContainer* _wallContainer |
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Private CalcHallSensorPos():bool |
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Sequential
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Public CNavigation( cpuID: int,
timePeriod: DWORD,
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Sequential
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Public ~CNavigation(): |
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Sequential
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Public DataLogPL( fileName: char*,
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Sequential
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Public DataLogPS( id: int,
fileName: char*,
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Sequential
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Private abstract DoThread( dt: double,
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Sequential
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Public FindPath( targetName: char*,
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Sequential
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Public GetMobilityPosture():CPosture |
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Sequential
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Public GetTracePath():vector<CPosture> |
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Sequential
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Private HallSensorSimulation():bool |
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Sequential
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Public NavigationStop():void |
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Sequential
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Public NavigationTo( targetName: char*,
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Sequential
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Private PositionPredict( dt: double,
moving: bool&,
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Sequential
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Private PositionUpdate( dt: double,
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Sequential
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Private ReadLaserScanner():void |
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Sequential
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Public SetMobilityPosture( posture: CPosture&,
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Sequential
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Private StatAbortNavigation( dt: double,
moving: bool,
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Sequential
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Private StatDriving( dt: double,
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Sequential
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| Element | Source Role | Target Role |
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CGlobalMap Class |
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Name: _globalMap |
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CKalmanFilter Class |
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Name: _locFilter |
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CDeviceLock Class |
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Name: _lock |
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CMagnetContainer Class |
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Name: _magnetContainer |
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CMagnetContainer Class |
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Name: _magnetScanned |
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CAstar Class |
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Name: _pathContainer |
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CPathFollowing Class |
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Name: _pathFollow |
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CPosture Class |
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Name: _posturePrev |
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CWallContainer Class |
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Name: _wallContainer |
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| Object | Type | Connection | Direction | Notes |
| CThreadX | Class | Generalization | To |