#include <uresauef.h>

Inheritance diagram for UResAuEf:

Public Member Functions
int	findFeatures (ULaserData *ldata)

UTime	getLastUpdateTime ()
	get the last time the wall lines were updated More...

bool	initializeWalls ()
	Initialize the wall estimate Use the longest seen line as a starting point and define other lines from this, setting unseed walls as close as possible. More...

bool	isLogOpen ()
	ask if logfile is open More...

void	openLog (bool close)
	open or close fixed logfile More...

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

int	updateWalls (UPose newPose)
	update the estimate of walls, assuming the room is rectangular. The result is in the wall[0..3] array with 0=north, 1= east, 2=south, and 3=west, assuming initial position is heading east, i.e. heading at an approximately right angle towards the east wall. Updates further a wallValid[0..4] array. The method is to find number of sides that is updated. More...

	UResAuEf ()

void	UResAuEfInit ()

void	wallReset ()
	Reset wall estimate to no walls. More...

virtual	~UResAuEf ()

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)

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

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

virtual	~UVarMethodImplement ()

Public Member Functions inherited from AUExtractFeatures
	AUExtractFeatures ()

void	doClusters (double configClusterDiff, double configRangeMin)
	Divide laser scanner data into clusters. More...

void	doDiscard (int configDiscardDots, double configDiscardSize)

void	doFindCircles (int configCircleMinDots, double configCircleMSQ, double configCircleMinR, double configCircleMaxR, double configCircleMinCg, double configCircleMaxCg)
	Tries to make circles out of neighbouring line segments. More...

void	doMerge (double configMergeMSQ)
	Merges segments. More...

int	doSplits (double configSplitMSQ)
	Splits segments if msq > configSplitMSQ. More...

void	extractFeatures (RangeData *data_)
	Extract features from a RangeData dataset. More...

void	extractFeatures (RangeData data_, AUEFReturnStruct res)
	Initiates the feature extraction from a RangeData object. More...

PolarLineFit *	findLongestLine (bool rightwise)

int	findSplit (PolarLineFit *line)
	Find point to split segment. More...

int	getCircleCount ()
	Number of circles extracted. More...

int	getFeatures (AUEFReturnStruct *res)
	Return features to struct. More...

int	getLineCount ()
	Number of lines extracted. More...

int	getParam (int p, char *value)

CircleFit *	getSegmentCircle (int idx)
	get corcle fit structure More...

int	getSegmentCount ()
	Number of segments extracted. More...

PolarLineFit *	getSegmentLine (int idx)
	get line segment More...

int	paramCount ()

const char *	paramName (int p)

void	segmentToStringCart (int seg, char *reply)
	XML format of segment. More...

void	segmentToStringPolar (int seg, char *reply)
	XML format of segment. More...

void	setDefaults ()
	Set all configurable vars to default. More...

void	setParam (int p, const char *value)

virtual	~AUExtractFeatures ()

Static Public Member Functions
static const char *	getResClassID ()

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

Public Attributes
U2Dlined	abcs [MAX_LINES]
	lines extracted in Ax+By+C=0 format More...

double	boxEW
	box size "width" east-west More...

double	boxNS
	box size "height" North-south More...

UPose	boxPose
	pose of box coordinate system More...

ULock	extractLock
	lock to disallow two threads to be in this function at the same time More...

AU2DLineSeg	lines [MAX_LINES]
	lines extracted in latest go More...

int	linesCnt
	number of valid lines More...

const char *	llogName
	name of logfile More...

U2Dlined	walls [4]
	wall lines north, east, west, south - in Ax+By+C=0 format More...

int	wallsAge [4]

AU2DLineSeg	wallSeg [4]
	wall lines in pos-angle-length format More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes
static const int	MAX_LINES = SEGMENTS_MAX
	maximum number of lines allowed to be extracted (defined in auextractfeatures.h) More...

Protected Member Functions
void	createBaseVar ()

void	getParams ()
	copy extractions parameters from global to extract function More...

double	limitToHalfPi (double th)
	convert the angle th into a value in the range +/- pi/2 More...

bool	toCartesian (ULaserData ldata, RangeData rdata)
	convert the polar rangedata to cartesian. More...

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
UPose	lastPose
	latest pose of robot More...

FILE *	llog
	logfile handle More...

ULock	llogLock
	resource lock to protect log-file (avoid writing after log is just closed) More...

bool	makeWalls90deg
	force walls to be at right angle to each other More...

double	minLineLength
	minimum line length for association to a wall line More...

double	safeWallLength
	walls lines longer than this overwrites the distance criteria More...

UVariable *	varClustDif
	index to extract parameter value cluster separateion distance More...

UVariable *	varClustMinCnt
	index to extract parameter value minimum cluster size More...

UVariable *	varCnt
	index to extract parameter value last found number of lines More...

UVariable *	varDiscard
	index to extract parameter value doDiscard More...

UVariable *	varDiscardCnt
	index to extract parameter value discard measurement count More...

UVariable *	varDiscardSize
	index to extract parameter value minimum line size More...

UVariable *	varMakeWalls90deg
	index to makeWalls90deg boolean value More...

UVariable *	varMerge
	index to extract parameter value doMerge More...

UVariable *	varMergeDev
	index to extract parameter value Merge deviation More...

UVariable *	varMinLineLength
	index to minimum line-to-wall association More...

UVariable *	varSafeWallLength
	index to safeWallLength More...

UVariable *	varSplit
	index to extract parameter value doSplot More...

UVariable *	varSplitDev
	index to extract parameter value split cluster deviation More...

UVariable *	varTime
	index to extract parameter value last analysis time More...

UVariable *	varWallAgeLimit
	pointer to wall reset age More...

UVariable *	varWallAngLimit
	pointer to angle limid More...

UVariable *	varWallDistLimit
	pointer to wall distance limit More...

int	wallAgeResetLimit
	wall correlation distance is ignored if wall is not updated in this number of scans More...

double	wallAngLimit
	wall correlation angle limit, when correlation with new lines More...

double	wallDistLimit
	wall correlation distance limit for maintained wall 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 AUExtractFeatures
double	configCircleMaxCg
	Min coverage for circle. More...

double	configCircleMaxR
	Max allowed radius for circle. More...

double	configCircleMinCg
	Min coverage for circle. More...

int	configCircleMinDots
	Min dots for circle. More...

double	configCircleMinR
	Min allowed radius for circle. More...

double	configCircleMSQ
	Max MSQ for circle. More...

double	configClusterDiff
	Range diff. resulting in cluster split. More...

int	configDiscardDots
	Discard elements exceeding this MSQ. More...

double	configDiscardSize
	Discard segments with length/diameter smaller than this. More...

double	configMergeMSQ
	Max mean square error accepted for merges. More...

int	configMinSegment
	Minimum number of points in segment. More...

char	configMode
	Split and merge configuration. More...

double	configRangeMin
	Dots below range min. are disregarded. More...

double	configSplitMSQ
	Mean square error resulting in split. More...

RangeData *	data
	Laser scanner data. More...

struct AUExtractFeatures::segment_s	segment [SEGMENTS_MAX]

int	segments
	number of segments allocated More...

Additional Inherited Members
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...

Constructor & Destructor Documentation

UResAuEf::UResAuEf ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UResAuEfInit(), and ~UResAuEf().

UResAuEf::~UResAuEf ( )

virtual

Destructor

References llog.

Referenced by UResAuEf().

Member Function Documentation

void UResAuEf::createBaseVar ( )

protected

Create global variables for this resiource

References UResVarPool::addVar(), varClustDif, varClustMinCnt, varCnt, varDiscard, varDiscardCnt, varDiscardSize, varMakeWalls90deg, varMerge, varMergeDev, varMinLineLength, varSafeWallLength, varSplit, varSplitDev, varTime, varWallAgeLimit, varWallAngLimit, and varWallDistLimit.

Referenced by isLogOpen(), and UResAuEfInit().

int UResAuEf::findFeatures ( ULaserData * ldata )

Called by the server core, when a new resource is available (or is removed), local pointers to the resource should be updated as appropriate. extract using current extraction criteria

References abcs, PolarLineFit::asCart(), AUExtractFeatures::extractFeatures(), UTime::getMicrosec(), getParams(), PolarLineFit::getR0(), ULaserData::getScanTime(), UTime::getSec(), AUExtractFeatures::getSegmentCount(), AUExtractFeatures::getSegmentLine(), ULaserData::getSerial(), PolarLineFit::getTh0(), AU2DLineSeg::length, lines, linesCnt, llog, llogLock, ULock::lock(), MAX_LINES, AU2DLineSeg::resSQ, U2Dlined::set(), UVariable::setInt(), AU2DLineSeg::setLine(), UVariable::setTime(), AU2DLineSeg::th, toCartesian(), ULock::unlock(), varCnt, varTime, AU2DLineSeg::x, and AU2DLineSeg::y.

Referenced by getResClassID(), UFuncEfLine::sendAllLines(), UFuncEfLine::sendBoxLines(), and UFuncEfLine::sendBoxPose().

UTime UResAuEf::getLastUpdateTime ( )

get the last time the wall lines were updated

Returns: the timestamp, as set in the global variable

References UVariable::getTime(), and varTime.

Referenced by isLogOpen(), UFuncEfLine::sendAllLines(), UFuncEfLine::sendBoxLines(), and UFuncEfLine::sendBoxPose().

void UResAuEf::getParams ( )

protected

copy extractions parameters from global to extract function

< Split and merge configuration

< Minimum number of points in segment

< Range diff. resulting in cluster split

< Mean square error resulting in split

< Max mean square error accepted for merges

< Discard elements exceeding this MSQ

< Discard segments with length/diameter smaller than this

References AUExtractFeatures::configClusterDiff, AUExtractFeatures::configDiscardDots, AUExtractFeatures::configDiscardSize, AUExtractFeatures::configMergeMSQ, AUExtractFeatures::configMinSegment, AUExtractFeatures::configMode, AUExtractFeatures::configSplitMSQ, EF_DO_DISCARD, EF_DO_MERGE, EF_DO_SPLIT, UVariable::getBool(), UVariable::getInt(), UVariable::getValued(), makeWalls90deg, minLineLength, safeWallLength, sqr(), varClustDif, varClustMinCnt, varDiscard, varDiscardCnt, varDiscardSize, varMakeWalls90deg, varMerge, varMergeDev, varMinLineLength, varSafeWallLength, varSplit, varSplitDev, varWallAgeLimit, varWallAngLimit, varWallDistLimit, wallAgeResetLimit, wallAngLimit, and wallDistLimit.

Referenced by findFeatures(), and isLogOpen().

static const char* UResAuEf::getResClassID ( )

inlinestatic

Fixed name of this resource type

References findFeatures(), openLog(), and print().

Referenced by UResAuEf().

bool UResAuEf::initializeWalls ( )

Initialize the wall estimate Use the longest seen line as a starting point and define other lines from this, setting unseed walls as close as possible.

References U2Dlined::A(), abcs, U2Dlined::B(), AU2DLineSeg::length, lines, linesCnt, U2Dlined::set(), walls, and wallsAge.

Referenced by isLogOpen(), and updateWalls().

bool UResAuEf::isLogOpen ( )

inline

ask if logfile is open

Returns: true if open

References createBaseVar(), getLastUpdateTime(), getParams(), initializeWalls(), limitToHalfPi(), llog, toCartesian(), updateWalls(), and wallReset().

Referenced by UFuncEfLine::handleCommand().

double UResAuEf::limitToHalfPi ( double th )

protected

convert the angle th into a value in the range +/- pi/2

Referenced by isLogOpen().

void UResAuEf::openLog ( bool close )

open or close fixed logfile

Parameters

close closes the logfile if true, else open

References dataPath, llog, llogLock, llogName, ULock::lock(), MAX_FILENAME_LENGTH, and ULock::unlock().

Referenced by getResClassID(), and UFuncEfLine::handleCommand().

const char * UResAuEf::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. print status to a string buffer

Reimplemented from AUExtractFeatures.

References UResBase::getResVersion(), linesCnt, and llog.

Referenced by getResClassID().

bool UResAuEf::toCartesian	(	ULaserData *	ldata,
		RangeData *	rdata
	)

protected

convert the polar rangedata to cartesian.

References ULaserData::getAngleRad(), ULaserData::getRangeCnt(), ULaserData::getRangeMeter(), OUT_OF_RANGE, RangeData::point_r, RangeData::point_th, RangeData::points, and RangeData::polarToCart().

Referenced by findFeatures(), and isLogOpen().

int UResAuEf::updateWalls ( UPose newPose )

update the estimate of walls, assuming the room is rectangular. The result is in the wall[0..3] array with 0=north, 1= east, 2=south, and 3=west, assuming initial position is heading east, i.e. heading at an approximately right angle towards the east wall. Updates further a wallValid[0..4] array. The method is to find number of sides that is updated.

References a, U2Dlined::A(), abcs, absf(), U2Dlined::B(), boxEW, boxNS, boxPose, U2Dlined::C(), U2Dlined::getCrossing(), UPose::h, initializeWalls(), lastPose, AU2DLineSeg::length, limitToPi(), lines, linesCnt, makeWalls90deg, MAX_LINES, minLineLength, safeWallLength, U2Dlined::set(), AU2DLineSeg::setLine(), wallAgeResetLimit, wallAngLimit, wallDistLimit, walls, wallsAge, wallSeg, AU2DLineSeg::x, UPose::x, AU2DLineSeg::y, and UPose::y.

Referenced by isLogOpen(), UFuncEfLine::sendBoxLines(), and UFuncEfLine::sendBoxPose().

void UResAuEf::UResAuEfInit ( )

Initialize class

References createBaseVar(), linesCnt, llog, llogName, and wallsAge.

Referenced by UResAuEf().

void UResAuEf::wallReset ( )

Reset wall estimate to no walls.

References wallsAge.

Referenced by UFuncEfLine::handleCommand(), and isLogOpen().

Member Data Documentation

U2Dlined UResAuEf::abcs[MAX_LINES]

lines extracted in Ax+By+C=0 format

Referenced by findFeatures(), initializeWalls(), and updateWalls().

double UResAuEf::boxEW

box size "width" east-west

Referenced by UFuncEfLine::sendBoxPose(), and updateWalls().

double UResAuEf::boxNS

box size "height" North-south

Referenced by UFuncEfLine::sendBoxPose(), and updateWalls().

UPose UResAuEf::boxPose

pose of box coordinate system

Referenced by UFuncEfLine::sendBoxPose(), and updateWalls().

ULock UResAuEf::extractLock

lock to disallow two threads to be in this function at the same time

Referenced by UFuncEfLine::sendAllLines(), UFuncEfLine::sendBoxLines(), and UFuncEfLine::sendBoxPose().

UPose UResAuEf::lastPose

protected

latest pose of robot

Referenced by updateWalls().

AU2DLineSeg UResAuEf::lines[MAX_LINES]

lines extracted in latest go

Referenced by findFeatures(), initializeWalls(), UFuncEfLine::sendAllLines(), and updateWalls().

int UResAuEf::linesCnt

number of valid lines

Referenced by findFeatures(), initializeWalls(), print(), UFuncEfLine::sendAllLines(), UFuncEfLine::sendBoxLines(), updateWalls(), and UResAuEfInit().

FILE* UResAuEf::llog

protected

logfile handle

Referenced by findFeatures(), isLogOpen(), openLog(), print(), UResAuEfInit(), and ~UResAuEf().

ULock UResAuEf::llogLock

protected

resource lock to protect log-file (avoid writing after log is just closed)

Referenced by findFeatures(), and openLog().

const char* UResAuEf::llogName

name of logfile

Referenced by UFuncEfLine::handleCommand(), openLog(), and UResAuEfInit().

bool UResAuEf::makeWalls90deg

protected

force walls to be at right angle to each other

Referenced by getParams(), and updateWalls().

const int UResAuEf::MAX_LINES = SEGMENTS_MAX

static

maximum number of lines allowed to be extracted (defined in auextractfeatures.h)

Referenced by findFeatures(), and updateWalls().

double UResAuEf::minLineLength

protected

minimum line length for association to a wall line

Referenced by getParams(), and updateWalls().

double UResAuEf::safeWallLength

protected

walls lines longer than this overwrites the distance criteria

Referenced by getParams(), and updateWalls().

UVariable* UResAuEf::varClustDif

protected

index to extract parameter value cluster separateion distance

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varClustMinCnt

protected

index to extract parameter value minimum cluster size

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varCnt

protected

index to extract parameter value last found number of lines

Referenced by createBaseVar(), and findFeatures().

UVariable* UResAuEf::varDiscard

protected

index to extract parameter value doDiscard

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varDiscardCnt

protected

index to extract parameter value discard measurement count

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varDiscardSize

protected

index to extract parameter value minimum line size

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varMakeWalls90deg

protected

index to makeWalls90deg boolean value

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varMerge

protected

index to extract parameter value doMerge

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varMergeDev

protected

index to extract parameter value Merge deviation

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varMinLineLength

protected

index to minimum line-to-wall association

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varSafeWallLength

protected

index to safeWallLength

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varSplit

protected

index to extract parameter value doSplot

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varSplitDev

protected

index to extract parameter value split cluster deviation

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varTime

protected

index to extract parameter value last analysis time

Referenced by createBaseVar(), findFeatures(), and getLastUpdateTime().

UVariable* UResAuEf::varWallAgeLimit

protected

pointer to wall reset age

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varWallAngLimit

protected

pointer to angle limid

Referenced by createBaseVar(), and getParams().

UVariable* UResAuEf::varWallDistLimit

protected

pointer to wall distance limit

Referenced by createBaseVar(), and getParams().

int UResAuEf::wallAgeResetLimit

protected

wall correlation distance is ignored if wall is not updated in this number of scans

Referenced by getParams(), and updateWalls().

double UResAuEf::wallAngLimit

protected

wall correlation angle limit, when correlation with new lines

Referenced by getParams(), and updateWalls().

double UResAuEf::wallDistLimit

protected

wall correlation distance limit for maintained wall

Referenced by getParams(), and updateWalls().

U2Dlined UResAuEf::walls[4]

wall lines north, east, west, south - in Ax+By+C=0 format

Referenced by initializeWalls(), and updateWalls().

int UResAuEf::wallsAge[4]

to what level are the walls valid -1 = not initialized, 0 = initialized, but not updated with reliable data 1 = updated in latest scan N = Updated N scans ago, where N=2..

Referenced by initializeWalls(), UFuncEfLine::sendBoxLines(), updateWalls(), UResAuEfInit(), and wallReset().

AU2DLineSeg UResAuEf::wallSeg[4]

wall lines in pos-angle-length format

Referenced by UFuncEfLine::sendBoxLines(), and updateWalls().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation