Function select_best_match_candidate

Function Documentation

arma::ivec select_best_match_candidate(const arma::fmat &start_points, const arma::fmat &directions, const arma::fmat &other_side_cones, const arma::fmat &other_side_directions, const arma::fvec &angles, const arma::fvec &radii_square, float max_search_angle)

Selects the best match for each cone based on Euclidean distance and angular criteria.

This function matches cones from one side of the track with cones on the other side. It uses both Euclidean distance and angular criteria to select the best match for each cone.

Parameters:

  • start_points – A matrix of cone positions on the start side of the track (M x 2).

  • directions – A matrix of directions associated with each cone (M x 2).

  • other_side_cones – A matrix of cone positions on the other side of the track (N x 2).

  • other_side_directions – A matrix of directions for the other side (N x 2).

  • angles – A vector of angles for the cones.

  • radii_square – A vector of squared radii for the cones.

  • max_search_angle – The maximum angle allowed for matching cones.

Returns:

A vector of indices corresponding to the best matches for each cone (M x 1).