Utilities

The Vulcan software includes several object classes that are frequently used when programming Vulcan. We have divided the presentation of these facilities in four groups: general utilities, graphic interface, system handles and trackers. General utilities include linear algebra, statistics, signal processing, kalman filters, etc.. Data plotting functions define how to display laser data, blobs and segments. System handles define a convenient class to program the tracing, logging, plotting and debugging of control laws. Trackers allow you to define observers for a particular class of objects or data.

Most of the classes here presented are compiled into C, and included in the Vulcan module defined in $VULCAN\lib\WheelchairModule.mcf.^3.1 The directory $VULCANLCAN\src\* contains the source code for the class presented below.