#include <uresmapobst.h>

Inheritance diagram for UResMapObst:

Public Member Functions
int	getNearObstacles (UPose mapPose, UPose odoPoseOrigin, UDataBase *obstGrp)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double pars, double value, UDataBase returnStruct, int returnStructCnt)

bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual const char *	print (const char preString, char buff, int buffCnt)

int	sendMapLinesToLocalizer (int client, bool justObstacles)

	UResMapObst ()

virtual	~UResMapObst ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual	~UVarMethodImplement ()

Public Member Functions inherited from ULogFile
void	closeLog ()

void	doFlush ()

FILE *	getF ()

const char *	getLogFileName ()

const char *	getLogName ()

bool	isLogOpen ()

bool	isOpen ()

void	logLock ()

bool	logRename (const char *name)

void	logUnlock ()

bool	openLog ()

bool	openLog (bool doOpen)

bool	openLog (const char *resName)

void	setLogFlush (bool doFlush)

void	setLogName (const char resName, const char ext="log")

void	setLogNameNumber (int number)
	add a number to the logfile name, That is if the logName is 'svs' and number is 2 (and logPath is '/rhome/demo'), then logfilename is set to '/rhome/demo/svs_2.log'. The purpose is to have an alternative, if the file renaming fails (if the file system is locked or something). More...

void	setLogTime (UTime timestamp)

void	toLog (const char *logString)

void	toLog (const char s1, const char s2)

void	toLog (const int num, const char s1, const char s2)

void	toLog (const char s1, const int num, const char s2)

void	toLog (const char s1, const int n1, const int n2, const char s2)

void	toLog (const char s1, const int num, const char s2, const char *s3)

void	toLog (const char s1, const int n1, const int n2, const char s2, const char *s3)

	ULogFile ()

void	useLogTime (bool value)

	~ULogFile ()

Public Attributes
bool	verbose

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Member Functions
void	createBaseVar ()

void	UResMapObstInit ()

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
UVariable *	varBack
	map search volumen relative to robot More...

UVariable *	varFront
	time for last obstacle extraction More...

UVariable *	varMapLineCnt
	number of map lines loaded to localizer More...

UVariable *	varMapPose
	position of robot at last extraction More...

UVariable *	varMarginFluffyFactor
	part of 'perimeter' that is more fluffy - expect false obstacles More...

UVariable *	varMarginSolidFactor
	part of 'perimeter' that is solid obstacle More...

UVariable *	varObstCnt
	obstacle count in last extraction More...

UVariable *	varWidth
	map search volumen relative to robot More...

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Protected Attributes inherited from ULogFile
int	failCnt

FILE *	logFile

ULock	logFileLock

char	logFileName [MAX_FILENAME_SIZE]

bool	logFlush

char	logName [MAX_FILENAME_SIZE]

UTime	logTime

bool	logTimeUse

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

The class has the resource to extract obstacle lines from the map in the vicinity of the current robot position.

Author: Christian Andersen

Constructor & Destructor Documentation

UResMapObst::UResMapObst ( )

inline

Constructor

References createBaseVar(), getNearObstacles(), methodCall(), methodCallV(), print(), sendMapLinesToLocalizer(), UResBase::setResID(), UResMapObstInit(), and ~UResMapObst().

UResMapObst::~UResMapObst ( )

virtual

Destructor

References UResBase::stop().

Referenced by UResMapObst().

Member Function Documentation

void UResMapObst::createBaseVar ( )

protected

Make the variables that will be available to other plugins

References UResVarPool::addMethod(), UResVarPool::addMethodV(), UResVarPool::addVar(), varBack, varFront, varMapLineCnt, varMapPose, varMarginFluffyFactor, varMarginSolidFactor, varObstCnt, and varWidth.

Referenced by UResMapObst(), and UResMapObstInit().

int UResMapObst::getNearObstacles	(	UPose	mapPose,
		UPose	odoPoseOrigin,
		UDataBase *	obstGrp
	)

extract map lines from obstacle bas that is near the current robot pose

Parameters

odoPoseOrigin	is current robot pose in odometry coordinates, and the related pose time
obstGrp	is the obstacle group, where resulting obstacles are to be placed

Returns: number of obstacles generated

References UPolygon::add(), UPolygon::clear(), UObstacleGroup::clear(), UPolygon::extractConvexTo(), U2Dseg::getDistanceSigned(), U2Dseg::getHeading(), UPose::getMapToPose(), UObstacleGroup::getNewObst(), UObstacleGroup::getObstsCnt(), U2Dseg::getOtherEnd(), UPose::getPoseToMap(), UResBase::getStaticResource(), UVariable::getValued(), UResBase::line, UTime::now(), UPose::set(), U2Dpos::set(), UPolygon::setAsPolygon(), U2Dseg::setFromPoints(), UVariable::setInt(), UObstacle::setMargin(), UVariable::setPose(), UObstacle::setPoseFirst(), UObstacle::setPoseLast(), UPoseTime::t, varFront, varMapPose, varMarginFluffyFactor, varMarginSolidFactor, varObstCnt, U2Dpos::x, UPose::x, U2Dpos::y, and UPose::y.

Referenced by methodCall(), methodCallV(), and UResMapObst().

bool UResMapObst::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	pars,
		double *	value,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

A varPool method with this class as implementor is called.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
strings	is an array of string pointers for the string type parameters (may be NULL if not used)
doubles	is an array with double typed parameters (may be NULL if not used)
value	is the (direct) result of the class, either a double value, or 0.0 for false 1.0 for true (2.0 for implicit stop if a controll call from mission sequencer).
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer

Returns: true if the method is recognised (exists), when false is returned a invalid name or parameter list is detected.

Reimplemented from UResVarPool.

References getNearObstacles(), and UPose::set().

Referenced by UResMapObst().

bool UResMapObst::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

A varPool method with this class as implementor is called.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
params	is an array of variable pointers with the actual parameters, in the order specified by order
returnStruct	is an array of class object pointers that can return values or objects (may be NULL) if no result value is needed (a procedure call)
returnStructCnt	is the number of objects in the returnStruct buffer