UNavPaint Class Reference

#include <unavpaint.h>

Public Member Functions
CvScalar	getColor (char col)
UImage *	getImg ()
void	mousePan (CvPoint pix, double newScale)
void	mouseScale (CvPoint pix, CvPoint dx)
void	paint (int imgPoolNum, int nh, int nw)
bool	paintVarAdd (const char *name, bool add)
void	printRefSystems ()
void	setRefSystemsHere ()
bool	setResource (UResBase *resource, bool remove)
	UNavPaint ()
	~UNavPaint ()

Public Attributes
double	maxRange
bool	paintBold
bool	paintCam
bool	paintCurves
bool	paintGmk
bool	paintGPS
bool	paintGridOdo
double	paintGridSize
bool	paintIntervalLines
bool	paintMapPose
	paint map-pose at bottom ov navigation display - if map pose plugin is available More...
int	paintObstCnt
bool	paintOdoPose
	paint odo-pose at bottom ov navigation display - if odo pose plugin is available More...
int	paintPathLinesCnt
bool	paintPathMidPoses
bool	paintPathSupportLines
bool	paintPoly
char	paintPolyHide [maxStrLng]
int	paintPolyNameCnt
char	paintPolyShow [maxStrLng]
int	paintPoseHistCnt
int	paintPoseHistVecCnt
int	paintPoseHistVecLng
int	paintPoseRef
int	paintRoadAll
int	paintRoadHistCnt
int	paintRobot
int	paintScanHistCnt
UVarPool *	paintStructs [PAINT_MAX_STRUCTS]
int	paintStructsCnt
bool	paintUtmPose
	paint utm-pose at bottom ov navigation display - if utm pose plugin is available More...
bool	paintVar
int	paintVisPolyCnt
int	rangeRingCnt
	number of range rings to paint. More...
UPose	robotPose

Static Public Attributes
static const int	maxStrLng = 100
static const int	PAINT_MAX_STRUCTS = 30

Protected Member Functions
UPose	getSystemOrigin (int myOrigin, bool *convertNeeded)
void	paintCams (UPoseTime seenFromPose)
void	paintCross (UImage *img, int x, int y, int size, CvScalar col, int lineWidth)
void	paintFeatures (UFeaturePool *featurePool, UPoseTime seenFromPose)
void	paintFreePoly (UProbPoly *poly, UPose seenFromPose, bool historic)
void	paintGmks (UPoseTime seenFromPose)
void	paintHistScan (ULaserDataSet *scan, UPose seenFromPose)
bool	paintManData (UClientManSeq *man, int num, UPoseTime seenFromPose)
void	paintObstGrp (UObstacleGroup *obst, UPose seenFromPose, int grpIdx)
bool	paintOdoDataText ()
bool	paintOdoGrid (UPose odoPose, double stepSize, bool bold)
void	paintPis (ULaserDataSet *scan, UPose seenFromPose, const int cnt)
void	paintPolyItems (UPoseTime seenFromPose)
void	paintPose (UImage *img, int x, int y, double h, int size, CvScalar col, int lineWidth)
void	paintPoseHistLine (UPoseTime seenFromPose, UResPoseHist *path, int colidx, bool convert, UPose systemOrigin)
void	paintPoseHistLines (UPoseTime seenFromPose)
bool	paintRangeRings (UPosRot *sensorPos, int ringCnt)
void	paintRoadLine (URoadLineData *road, UPoseTime seenFromPose, bool inGray)
bool	paintRobotField ()
bool	paintRobotGuidebot (double toFront)
bool	paintRobotHako (double toFront)
bool	paintRobotIrobot (double toFront)
bool	paintRobotMmr (double toFront)
bool	paintRobotSmr (double toFront)
void	paintScanNewest (ULaserDataSet *scan)
bool	paintScanStatData (ULaserDataSet *scan, bool paintVar, bool paintVarL, bool paintTilt)
bool	paintVarDataText (bool paintAll)

Protected Attributes
UResCamIfCam *	camCam
UResCamIfGmk *	camGmk
UResCamIfPath *	camPath
UImage *	img
UImagePool *	imgPool
ULaserDataHistory *	laserData
UResLaserIfSf *	laserFeatures
UResNavIfMan *	navMan
UObstacleHist *	obsts
UResPoseHist *	poseMap
UResPoseHist *	poseOdo
UPose	poseToRef [MAX_REF_SYS][MAX_REF_SYS]
UResPoseHist *	poseUtm
UResLaserIfScan *	resLaserData
UResLaserIfObst *	resObst
UResPoly *	resPoly
UResLaserIfRoad *	road
UResVarPool *	varRoot

Static Protected Attributes
static const int	MAX_REF_SYS = 3

Private Member Functions
CvPoint	toPixels (UPosition pos, int coordinateSystem, UPose seenFromPose)
CvPoint	toPixels (UPosition pos, UPose seenFromPose, UPose systemOrigin, bool convert)
CvPoint	toPixels (UPosition pos)
CvPoint	toPixels (UPose pose)

Private Attributes
char	img97name [IMG97SIZE]
double	ppm
CvPoint	pr

Static Private Attributes
static const int	IMG97SIZE = 100

Detailed Description

Class to paint the navigation image

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

UNavPaint::UNavPaint

(

)

Constructor

References camCam, camGmk, camPath, img, imgPool, laserData, laserFeatures, maxRange, navMan, obsts, paintBold, paintCam, paintCurves, paintGmk, paintGridOdo, paintGridSize, paintIntervalLines, paintMapPose, paintObstCnt, paintOdoPose, paintPathLinesCnt, paintPathMidPoses, paintPathSupportLines, paintPoly, paintPolyHide, paintPolyNameCnt, paintPolyShow, paintPoseHistCnt, paintPoseHistVecCnt, paintPoseHistVecLng, paintPoseRef, paintRoadAll, paintRoadHistCnt, paintRobot, paintScanHistCnt, paintStructsCnt, paintUtmPose, paintVar, paintVisPolyCnt, poseMap, poseOdo, poseUtm, rangeRingCnt, resLaserData, resObst, resPoly, road, robotPose, UPose::set(), and varRoot.

UNavPaint::~UNavPaint

(

)

Destructor

Member Function Documentation

CvScalar UNavPaint::getColor

(

char

col

)

Get a color value from a color character - mostly like color in scilab/matlab, i.e. 'r' is red, 'p' is pink

Referenced by paintPolyItems().

UImage* UNavPaint::getImg ( )

inline

Get image that was last painted on

References getSystemOrigin(), img, paintCams(), paintCross(), paintFeatures(), paintFreePoly(), paintGmks(), paintHistScan(), paintManData(), paintObstGrp(), paintOdoDataText(), paintOdoGrid(), paintPis(), paintPolyItems(), paintPose(), paintPoseHistLine(), paintPoseHistLines(), paintRangeRings(), paintRoadLine(), paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanNewest(), paintScanStatData(), paintVar, paintVarDataText(), road, and scan.

UPose UNavPaint::getSystemOrigin ( int  myOrigin, bool *  convertNeeded  )

protected

Get the origin of my coordinate system in the current paint coordinate syste. if coordinate systems are not the same, then the optional parameter 'convertNeeded' is set to true.

Parameters

myOrigin	is one of three values 0=odometry, 1=UTM, 2=map coordinates.
convertNeeded	is set to false, if current paint coordinates are the same as myOrigin.

Returns

the position of 'myOrigin' in current paint coordinate system.

References UPose::clear(), MAX_REF_SYS, paintPoseRef, and poseToRef.

Referenced by getImg(), paintFeatures(), paintManData(), paintObstGrp(), paintPolyItems(), and toPixels().

void UNavPaint::mousePan	(	CvPoint	pix,
		double	newScale
	)

pan robot to this pixel position ob the display window

Parameters

pix	is the new pixel position that should appear a centre of window.
newScale	is the new height of window in meters.

Returns

a new robotPose in screen coordinates (0,0 is bottom center - in meters)

a new maxRange to the newScale value.

References UPose::getMapToPosePose(), UPose::h, UImage::height(), img, maxRange, ppm, robotPose, UImage::width(), UPose::x, and UPose::y.

Referenced by mouseScale().

void UNavPaint::mouseScale	(	CvPoint	pix,
		CvPoint	dx
	)

scale to show this pixel area

Parameters

pix	is the position of the first mouse down click.
dx	if the movement in pixels relative to pos1 - in pixels.

References absi(), UImage::height(), img, maxRange, mousePan(), ppm, and UImage::width().

void UNavPaint::paint	(	int	imgPoolNum,
		int	nh,
		int	nw
	)

Paint laser data to this image-pool image

Parameters

imgPoolNum	is the image pool number to use for navigation image
nh,nw	is the size (height x width) of navigation image in pixels

References camPath, UImage::clear(), UImage::cvArr(), UObstacleHist::getGroupFixed(), UObstacleHist::getGroupNewest(), UObstacleHist::getGroupsCnt(), UImagePool::getImage(), UResNavIfMan::getMans(), UResNavIfMan::getMansCnt(), UResPoseHist::getNewest(), ULaserDataHistory::getNewest(), ULaserDataSet::getPisCnt(), UVisData::getPoly(), UResPoseHist::getPoseAtTime(), UResLaserIfRoad::getRoadCurrent(), UResLaserIfRoad::getRoadLine(), UResLaserIfRoad::getRoadLinesCnt(), ULaserDataHistory::getScan(), ULaserDataHistory::getScansCnt(), ULaserDataSet::getScanTime(), UTime::getSec(), ULaserDataSet::getSensorPose(), ULaserDataSet::getSerial(), UResLaserIfSf::getSfPool(), UClientFuncPath::getVisData(), UClientFuncPath::getVisDataCnt(), UPosRot::getX(), UImage::height(), UImage::imageNumber, img, img97name, IMG97SIZE, imgPool, UImage::imgTime, UImage::imgUpdated(), ULaserDataSet::isStatValid(), laserData, laserFeatures, ULock::lock(), maxRange, mini(), navMan, UTime::now(), obsts, UObstacleHist::ogLock, paintBold, paintCam, paintCams(), paintCurves, paintFeatures(), paintFreePoly(), paintGmk, paintGmks(), paintGridOdo, paintGridSize, paintHistScan(), paintIntervalLines, paintManData(), paintObstCnt, paintObstGrp(), paintOdoDataText(), paintOdoGrid(), paintPathLinesCnt, paintPis(), paintPoly, paintPolyItems(), paintPoseHistLines(), paintPoseRef, paintRangeRings(), paintRoadAll, paintRoadHistCnt, paintRoadLine(), paintRobot, paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanHistCnt, paintScanNewest(), paintScanStatData(), paintVar, paintVarDataText(), paintVisPolyCnt, poseMap, poseOdo, poseUtm, ppm, pr, rangeRingCnt, road, robotPose, roundi(), scan, UPosRot::set(), UImage::setName(), UImage::setSize(), UPoseTime::t, ULock::unlock(), UImage::used, UImage::width(), UPose::x, and UPose::y.

void UNavPaint::paintCams ( UPoseTime  seenFromPose )

protected

Paint known camera positions

References camCam, UImage::cvArr(), UClientCams::getCam(), UClientFuncCam::getCams(), UClientCams::getCamsCnt(), UCamPar::getPtoCRob(), UPosRot::getRtoMMatrix(), UClientCamData::height, img, maxRange, paintBold, UCamPar::parValid, UClientCamData::pos, ppm, pr, UClientCamData::rot, roundi(), UPosRot::set(), UPosition::transfer(), UClientCamData::width, UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

void UNavPaint::paintCross ( UImage *  img, int  x, int  y, int  size, CvScalar  col, int  lineWidth  )

protected

Paint a cross symbol at this position

References UImage::cvArr().

Referenced by getImg(), paintManData(), and paintScanNewest().

void UNavPaint::paintFeatures ( UFeaturePool *  featurePool, UPoseTime  seenFromPose  )

protected

Paint simple features from a feature pool

References UImage::cvArr(), UFeatureData::getDataType(), UPose::getMapToPose(), ULineSegment::getOtherEnd(), UPose::getPoseToMap(), ULine::getPositionOnLine(), UFeaturePool::getScan(), UFeaturePool::getScansCnt(), UFeatureData::getSegs(), UFeatureData::getSegsCnt(), UFeatureData::getSegsInt(), UFeatureData::getSegsVal(), getSystemOrigin(), UImage::height(), img, UFeatureData::isNewest, paintBold, paintScanHistCnt, ULine::pos, ppm, pr, roundi(), UFeatureData::segsStr, UImage::width(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

void UNavPaint::paintFreePoly ( UProbPoly *  poly, UPose  seenFromPose, bool  historic  )

protected

Paint a vision based polygon

References UImage::cvArr(), UProbPoly::getIsObst(), UPose::getMapToPose(), UPolygon::getPoints(), UPolygon::getPointsCnt(), img, paintBold, ppm, pr, roundi(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

void UNavPaint::paintGmks ( UPoseTime  seenFromPose )

protected

Paint known GMK positions

References camGmk, UImage::cvArr(), UGmk::getCodeInt(), UGmkPool::getGmkCnt(), UGmkPool::getGmkNum(), UClientFuncGmk::getGmkPool(), UPosRot::getRtoMMatrix(), UPosRot::getX(), UPosRot::getY(), img, maxRange, paintBold, ppm, pr, roundi(), UPosition::set(), UPosition::transfer(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

void UNavPaint::paintHistScan ( ULaserDataSet *  scan, UPose  seenFromPose  )

protected

Paint historic scans

References UImage::cvArr(), ULaserDataSet::getCount(), ULaserDataSet::getData(), UClientLaserData::getDistance(), UClientLaserData::getFlag(), UPose::getMapToPose(), ULaserDataSet::getMaxValidRange(), ULaserDataSet::getPose(), UResPoseHist::getPoseAtTime(), UPose::getPoseToMap(), UClientLaserData::getPosition(), UClientLaserData::getRangeCnt(), UPosRot::getRtoMMatrix(), ULaserDataSet::getScanTime(), ULaserDataSet::getSensorPose(), img, UImage::inRange(), UClientLaserData::isValid(), maxRange, paintBold, paintPoseRef, poseMap, poseOdo, poseUtm, ppm, pr, roundi(), UImage::setPix(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintManData ( UClientManSeq *  man, int  num, UPoseTime  seenFromPose  )

protected

Paint one manoeuver sequence 'man', in res if the best, else in weak colors dependent in the 'num' parameter

References UImage::cvArr(), UManoeuvre::getEndPoseV(), UManPPSeq::getMan(), UManoeuvre::getManType(), UPose::getMapToPose(), UPose::getMapToPosePose(), ULineSegment::getOtherEnd(), UManSeq::getP2P(), UManSeq::getP2PCnt(), UPose::getPos(), UClientManSeq::getPoses(), UClientManSeq::getPosesCnt(), UPose::getPoseToMap(), UPose::getPoseToMapPose(), UClientManSeq::getSegChars(), UClientManSeq::getSegs(), UClientManSeq::getSegsCnt(), UManPPSeq::getSeqCnt(), UManPPSeq::getStartPoseV(), getSystemOrigin(), UManArc::getTurnAngle(), UManArc::getTurnRadius(), UPose::h, img, UClientManSeq::isBest(), UClientManSeq::isPathFailed(), UManoeuvre::MAN_ARC, UManoeuvre::MAN_LINE, UManoeuvre::MAN_STOP, maxRange, paintBold, paintCross(), paintPathMidPoses, paintPathSupportLines, ULine::pos, ppm, pr, roundi(), UManArc::setTurnAngle(), UManArc::setTurnRadius(), toPixels(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by getImg(), and paint().

void UNavPaint::paintObstGrp ( UObstacleGroup *  obst, UPose  seenFromPose, int  grpIdx  )

protected

Paint obstacles in this obstacle group

References UImage::cvArr(), UPose::getMapToPose(), UObstacleGroup::getObstacle(), UObstacleGroup::getObstsCnt(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UPose::getPoseToMap(), getSystemOrigin(), img, UObstacle::isValid(), paintBold, ppm, pr, roundi(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintOdoDataText ( )

protected

Paint current odometry position and time as text in bottom left corner

References UTime::clear(), UImage::cvArr(), UTime::getDateString(), UTime::getDecSec(), UTime::getMicrosec(), UResPoseHist::getNewest(), UResPoseHist::getPoseAtTime(), UTime::getSec(), UTime::getTimeAsString(), UPose::h, UImage::height(), img, maxRange, UTime::Now(), paintBold, paintMapPose, paintOdoPose, paintPoseRef, paintUtmPose, poseMap, poseOdo, poseUtm, UPoseTVQ::q, UPoseTime::t, UPoseTVQ::vel, UPose::x, and UPose::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintOdoGrid ( UPose  odoPose, double  stepSize, bool  bold  )

protected

Paint odometry reference grid

References UImage::cvArr(), UPose::getMapToPose(), img, maxRange, ppm, pr, roundi(), UPosition::set(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by getImg(), and paint().

void UNavPaint::paintPis ( ULaserDataSet *  scan, UPose  seenFromPose, const int  cnt  )

protected

Paint passable intervals fount in this scan

References UImage::cvArr(), UClientLaserPi::getLeftPos(), UClientLaserPi::getLeftSide(), UPose::getMapToPose(), ULaserDataSet::getPis(), ULaserDataSet::getPisCnt(), UClientLaserPi::getRightPos(), UClientLaserPi::getRightSide(), UClientLaserPi::getTopPos(), img, maxRange, paintBold, ppm, pr, roundi(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

void UNavPaint::paintPolyItems ( UPoseTime  seenFromPose )

protected

paint the lines in the polyItem module The color parameters '1234' are d for default in all positions [1] first position is color - like matlab r=red, p=pink, k=black, w=wheat, 1..9=grayscale [2] is line width in pixels - default is 1 [3] if '*' is mark vertices with a circle - default is none [4] if ' ' then edge line is not drawn - default is draw

Parameters

seenFromPose

is reference position fro drawing

References UPolygon::color, UPolyItem::cooSys, UImage::cvArr(), UPolygon::getCogXY(), getColor(), UResPoly::getItem(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UResPoly::getPolysCnt(), getSystemOrigin(), img, UPolygon::isPolygon(), UPolyItem::name, paintBold, paintPolyHide, paintPolyNameCnt, paintPolyShow, pattern_match(), resPoly, and toPixels().

Referenced by getImg(), and paint().

void UNavPaint::paintPose ( UImage *  img, int  x, int  y, double  h, int  size, CvScalar  col, int  lineWidth  )

protected

Paint a pose-symbol at this pixel position

References UImage::cvArr(), and roundi().

Referenced by getImg().

void UNavPaint::paintPoseHistLine ( UPoseTime  seenFromPose, UResPoseHist *  path, int  colidx, bool  convert, UPose  systemOrigin  )

protected

Paint pose history line

Parameters

seenFromPose	current pose in current coordinate system
path	system path to be painted
colidx	index number to paint colour (pt. 0=red, 1=cyan, 2=magenta)
convert	should the path coordinates be converted to local system (true if conversion is needed)
systemOrigin	origin of path coordinate system in current system.

References UImage::cvArr(), UPose::getMapToPose(), UPose::getPos(), UResPoseHist::getPose(), UResPoseHist::getPosesCnt(), UPose::getPoseToMapPose(), img, maxRange, mini(), paintBold, paintPoseHistCnt, paintPoseHistVecCnt, paintPoseHistVecLng, ppm, pr, roundi(), UPose::set(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paintPoseHistLines().

void UNavPaint::paintPoseHistLines ( UPoseTime  seenFromPose )

protected

Paint path lines for all available reference systems

References MAX_REF_SYS, paintPoseHistLine(), paintPoseRef, poseMap, poseOdo, poseToRef, poseUtm, and pr.

Referenced by getImg(), and paint().

bool UNavPaint::paintRangeRings ( UPosRot *  sensorPos, int  ringCnt  )

protected

Paint laser scanner range rings

Parameters

sensorPos	is the 6d sensor pose relative to the robot.
ringCnt	is the number of range rings to paint.

References UImage::cvArr(), UPosRot::getX(), UPosRot::getY(), img, laserData, maxRange, paintBold, ppm, pr, rangeRingCnt, and roundi().

Referenced by getImg(), and paint().

void UNavPaint::paintRoadLine ( URoadLineData *  road, UPoseTime  seenFromPose, bool  inGray  )

protected

Paint road line, as line segment and poly-line

References UImage::cvArr(), URoadLineData::edge, URoadLineData::edgeLine, UPose::getMapToPose(), ULineSegment::getOtherEnd(), UPolygon::getPoint(), UPolygon::getPointsCnt(), img, URoadLineData::line, maxRange, mini(), paintBold, paintRoadHistCnt, ULine::pos, ppm, pr, roundi(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotField ( )

protected

Paint fieldrobot

References UImage::cvArr(), img, paintBold, ppm, pr, and roundi().

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotGuidebot ( double  toFront )

protected

Paint a simple robot outline

References UImage::cvArr(), img, paintBold, ppm, pr, roundi(), and UPosition::set().

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotHako ( double  toFront )

protected

Paint a simple robot outline

References UImage::cvArr(), img, paintBold, ppm, pr, and roundi().

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotIrobot ( double  toFront )

protected

Paint a simple robot outline

References UImage::cvArr(), img, paintBold, ppm, pr, roundi(), and UPosition::set().

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotMmr ( double  toFront )

protected

Paint a simple robot outline

References UImage::cvArr(), img, paintBold, ppm, pr, and roundi().

Referenced by getImg(), and paint().

bool UNavPaint::paintRobotSmr ( double  toFront )

protected

Paint a simple robot outline

References UImage::cvArr(), img, paintBold, ppm, pr, and roundi().

Referenced by getImg(), and paint().

void UNavPaint::paintScanNewest ( ULaserDataSet *  scan )

protected

Paint newest scan (big symbole)

References UImage::cvArr(), ULaserDataSet::getCount(), ULaserDataSet::getData(), UClientLaserData::getDistance(), ULaserDataSet::getMaxValidRange(), UClientLaserData::getPosition(), UClientLaserData::getRangeCnt(), UPosRot::getRtoMMatrix(), ULaserDataSet::getSensorPose(), img, UClientLaserData::isValid(), maxRange, paintBold, paintCross(), ppm, pr, roundi(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintScanStatData ( ULaserDataSet *  scan, bool  paintVar, bool  paintVarL, bool  paintTilt  )

protected

Paint scan line-fit variance curves (and other curves) in top-right corner

References UImage::cvArr(), ULaserDataSet::getCount(), ULaserDataSet::getData(), ULaserDataSet::getLaserTilt(), UImage::height(), img, maxi(), mini(), paintBold, roundi(), UImage::width(), UPosition::x, and UPosition::y.

Referenced by getImg(), and paint().

bool UNavPaint::paintVarAdd	(	const char *	name,
		bool	add
	)

Add or remove paint var structures

References UVarPool::getStructDeep(), UResVarPool::getVarPool(), PAINT_MAX_STRUCTS, paintStructs, paintStructsCnt, and varRoot.

Referenced by UFunctionDisp::handleCommand().

bool UNavPaint::paintVarDataText ( bool  paintAll )

protected

Paint variables and values in top-left corner (and down)

References UImage::cvArr(), UVarPool::getFullPreName(), UTime::getTimeAsString(), UVarPool::getVars(), UVarPool::getVarsCnt(), img, paintStructs, paintStructsCnt, UTime::setTime(), and UVariable::t.

Referenced by getImg(), and paint().

void UNavPaint::printRefSystems

(

)

Print the coordinate references to console for all available conversions

References UTime::getDateTimeAsString(), UTime::getMicrosec(), UResPoseHist::getNewest(), UResPoseHist::getPoseAtTime(), UTime::getSec(), UPose::h, MAX_REF_SYS, poseMap, poseOdo, poseToRef, poseUtm, UPoseTime::t, UPose::x, and UPose::y.

void UNavPaint::setRefSystemsHere

(

)

Set all coordinaate systems to the same spot (this)

References UPose::clear(), UPose::getMapToPosePose(), UResPoseHist::getNewest(), UResPoseHist::getPoseAtTime(), UPose::getPoseToMapPose(), MAX_REF_SYS, poseMap, poseOdo, poseToRef, poseUtm, and UPoseTime::t.

Referenced by UFunctionDisp::handleCommand().

bool UNavPaint::setResource	(	UResBase *	resource,
		bool	remove
	)

Set ressource as needed (probably not used by this resource)

References camCam, camGmk, camPath, UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UResLaserIfObst::getResClassID(), UResCamIfPath::getResClassID(), UResCamIfCam::getResClassID(), UResCamIfGmk::getResClassID(), UImagePool::getResClassID(), UResLaserIfSf::getResClassID(), UResVarPool::getResClassID(), UResLaserIfScan::getResClassID(), UResLaserIfRoad::getResClassID(), UResNavIfMan::getResClassID(), UResLaserIfScan::getScanHist(), UResPoseHist::getUtmPoseID(), imgPool, UResBase::isA(), laserData, laserFeatures, navMan, obsts, poseMap, poseOdo, poseUtm, resLaserData, resObst, resPoly, road, and varRoot.

CvPoint UNavPaint::toPixels ( UPosition  pos, int  coordinateSystem, UPose  seenFromPose  )

private

convert a position in one of the supported coordinate systems to a pixel position

Parameters

pos	is the position to converted
coordinateSystem	is the ordinal number of the coordinate system of pos, 0=odo, 1= utm, 2=map.
seenFromPose	is the current position of the robot in current coordinate system

Returns

pixel position - limited to max 10000 pixels away from display origin

References getSystemOrigin().

Referenced by paintManData(), paintPolyItems(), and toPixels().

CvPoint UNavPaint::toPixels ( UPosition  pos, UPose  seenFromPose, UPose  systemOrigin, bool  convert  )

private

convert a position in one of the supported coordinate systems to a pixel position

Parameters

pos	is the position to converted
seenFromPose	is the current position of the robot in current coordinate system
systemOrigin	is the origin of the 'pos' position in the displayed coodinate system (returned by the getSystemOrigin(...) call)
convert	is a flag - if false no coordinate conversion is needed. (returned by the getSystemOrigin(...) call)

Returns

pixel position - limited to max 10000 pixels away from display origin

References UPose::getMapToPose(), UPose::getPoseToMap(), and toPixels().

CvPoint UNavPaint::toPixels ( UPosition  pos )

private

Convert this position in displayed coordinate system to a pixel position

Parameters

pos	is the position (only x,y is used).

Returns

a position to be used in paint call.

References U2Dpos::dist(), ppm, pr, roundi(), U2Dpos::x, UPosition::x, U2Dpos::y, and UPosition::y.

CvPoint UNavPaint::toPixels ( UPose  pose )

inlineprivate

Convert this pose position in displayed coordinate system to a pixel position

Parameters

pose	is the position (only x,y is used).

Returns

a position to be used in paint call.

References toPixels(), UPose::x, and UPose::y.

Member Data Documentation

UResCamIfCam* UNavPaint::camCam

protected

Pointer to pool of camera details

Referenced by paintCams(), setResource(), and UNavPaint().

UResCamIfGmk* UNavPaint::camGmk

protected

Pointer to guidemark pool

Referenced by paintGmks(), setResource(), and UNavPaint().

UResCamIfPath* UNavPaint::camPath

protected

Pointer to vision based path

Referenced by paint(), setResource(), and UNavPaint().

UImage* UNavPaint::img

protected

Image to paint on

Referenced by getImg(), mousePan(), mouseScale(), paint(), paintCams(), paintFeatures(), paintFreePoly(), paintGmks(), paintHistScan(), paintManData(), paintObstGrp(), paintOdoDataText(), paintOdoGrid(), paintPis(), paintPolyItems(), paintPoseHistLine(), paintRangeRings(), paintRoadLine(), paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanNewest(), paintScanStatData(), paintVarDataText(), and UNavPaint().

char UNavPaint::img97name[IMG97SIZE]

private

Referenced by paint().

const int UNavPaint::IMG97SIZE = 100

staticprivate

image 97name

Referenced by paint().

UImagePool* UNavPaint::imgPool

protected

Image pool pointer

Referenced by paint(), setResource(), and UNavPaint().

ULaserDataHistory* UNavPaint::laserData

protected

Pointer to copy of basic laser scanner data

Referenced by paint(), paintRangeRings(), setResource(), and UNavPaint().

UResLaserIfSf* UNavPaint::laserFeatures

protected

Pool with simple features - as lines and points

Referenced by paint(), setResource(), and UNavPaint().

const int UNavPaint::MAX_REF_SYS = 3

staticprotected

Maximum map reference systems (currently 3: odo(0), utm(1), map(2))

Referenced by getSystemOrigin(), paintPoseHistLines(), printRefSystems(), and setRefSystemsHere().

double UNavPaint::maxRange

Max range is the total height of the navigation window.

Referenced by UFunctionDisp::handleCommand(), mousePan(), mouseScale(), paint(), paintCams(), paintGmks(), paintHistScan(), paintManData(), paintOdoDataText(), paintOdoGrid(), paintPis(), paintPoseHistLine(), paintRangeRings(), paintRoadLine(), paintScanNewest(), and UNavPaint().

const int UNavPaint::maxStrLng = 100

static

Referenced by UFunctionDisp::handleCommand().

UResNavIfMan* UNavPaint::navMan

protected

Navigation path resource from navigation server

Referenced by paint(), setResource(), and UNavPaint().

UObstacleHist* UNavPaint::obsts

protected

Pointer to obstacle data

Referenced by paint(), setResource(), and UNavPaint().

const int UNavPaint::PAINT_MAX_STRUCTS = 30

static

Max number of painted variable structures

Referenced by paintVarAdd().

bool UNavPaint::paintBold

Paint in bold (thicker bigger)

Referenced by paint(), paintCams(), paintFeatures(), paintFreePoly(), paintGmks(), paintHistScan(), paintManData(), paintObstGrp(), paintOdoDataText(), paintPis(), paintPolyItems(), paintPoseHistLine(), paintRangeRings(), paintRoadLine(), paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanNewest(), paintScanStatData(), and UNavPaint().

bool UNavPaint::paintCam

Paint camera position

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintCurves

Paint statistical curves

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintGmk

Paint guidemarks

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintGPS

Paint EKF (GPS) data

bool UNavPaint::paintGridOdo

paint grid (rectangular odo grid

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

double UNavPaint::paintGridSize

Paint vision based polygon Distance between grid lines - in meter

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintIntervalLines

Paint interval lines

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintMapPose

paint map-pose at bottom ov navigation display - if map pose plugin is available

Referenced by UFunctionDisp::handleCommand(), paintOdoDataText(), and UNavPaint().

int UNavPaint::paintObstCnt

Paint planning info (var and mission line) Number of obstacle groups (max) to paint

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintOdoPose

paint odo-pose at bottom ov navigation display - if odo pose plugin is available

Referenced by UFunctionDisp::handleCommand(), paintOdoDataText(), and UNavPaint().

int UNavPaint::paintPathLinesCnt

Paint path lines - alternative and used path

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

bool UNavPaint::paintPathMidPoses

Paint tested (mid) poses for generation of this path

Referenced by UFunctionDisp::handleCommand(), paintManData(), and UNavPaint().

bool UNavPaint::paintPathSupportLines

Paint tangent lines and no-visibility lines

Referenced by paintManData(), and UNavPaint().

bool UNavPaint::paintPoly

Paint poly items - planned missions etc.

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

char UNavPaint::paintPolyHide[maxStrLng]

hide these polygons (default hide none)

Referenced by UFunctionDisp::handleCommand(), paintPolyItems(), and UNavPaint().

int UNavPaint::paintPolyNameCnt

Paint name of poly items - at maximum this number of chars.

Referenced by UFunctionDisp::handleCommand(), paintPolyItems(), and UNavPaint().

char UNavPaint::paintPolyShow[maxStrLng]

but show these these polygons among the hidden (default show all)

Referenced by UFunctionDisp::handleCommand(), paintPolyItems(), and UNavPaint().

int UNavPaint::paintPoseHistCnt

Paint path lines for all, also alternaive paths Number of poses in pose history to paint

Referenced by UFunctionDisp::handleCommand(), paintPoseHistLine(), and UNavPaint().

int UNavPaint::paintPoseHistVecCnt

Pose interval for for every heading vector paint (0 is not)

Referenced by UFunctionDisp::handleCommand(), paintPoseHistLine(), and UNavPaint().

int UNavPaint::paintPoseHistVecLng

Pose heading vector length in pixels

Referenced by UFunctionDisp::handleCommand(), paintPoseHistLine(), and UNavPaint().

int UNavPaint::paintPoseRef

Used pose reference 0=odoPose, 1=utmPose 2= mapPose

Referenced by getSystemOrigin(), UFunctionDisp::handleCommand(), paint(), paintHistScan(), paintOdoDataText(), paintPoseHistLines(), and UNavPaint().

int UNavPaint::paintRoadAll

Paint all road lines - not just the primary newest road

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

int UNavPaint::paintRoadHistCnt

Paint road lines, if 0 then no roads are painted

Referenced by UFunctionDisp::handleCommand(), paint(), paintRoadLine(), and UNavPaint().

int UNavPaint::paintRobot

Paint robot as: 0=mmr, 1=smr, 2=hako

Referenced by paint(), and UNavPaint().

int UNavPaint::paintScanHistCnt

Number of scans to use in path hist

Referenced by UFunctionDisp::handleCommand(), paint(), paintFeatures(), and UNavPaint().

UVarPool* UNavPaint::paintStructs[PAINT_MAX_STRUCTS]

Paint variables from these structures

Referenced by paintVarAdd(), and paintVarDataText().

int UNavPaint::paintStructsCnt

Number of used paint structures

Referenced by paintVarAdd(), paintVarDataText(), and UNavPaint().

bool UNavPaint::paintUtmPose

paint utm-pose at bottom ov navigation display - if utm pose plugin is available

Referenced by UFunctionDisp::handleCommand(), paintOdoDataText(), and UNavPaint().

bool UNavPaint::paintVar

Paint variables (in structures) - used to hide all

Referenced by getImg(), UFunctionDisp::handleCommand(), paint(), and UNavPaint().

int UNavPaint::paintVisPolyCnt

Number of vision poygons to paint

Referenced by UFunctionDisp::handleCommand(), paint(), and UNavPaint().

UResPoseHist* UNavPaint::poseMap

protected

Pointer to recorded pose history - in Map coordinates

Referenced by paint(), paintHistScan(), paintOdoDataText(), paintPoseHistLines(), printRefSystems(), setRefSystemsHere(), setResource(), and UNavPaint().

UResPoseHist* UNavPaint::poseOdo

protected

Pointer to recorded pose history - in odometry coordinates

Referenced by paint(), paintHistScan(), paintOdoDataText(), paintPoseHistLines(), printRefSystems(), setRefSystemsHere(), setResource(), and UNavPaint().

UPose UNavPaint::poseToRef[MAX_REF_SYS][MAX_REF_SYS]

protected

Pose reference conversion offset First index is source second index is destination system

Referenced by getSystemOrigin(), paintPoseHistLines(), printRefSystems(), and setRefSystemsHere().

UResPoseHist* UNavPaint::poseUtm

protected

Pointer to recorded pose history - in UTM coordinates

Referenced by paint(), paintHistScan(), paintOdoDataText(), paintPoseHistLines(), printRefSystems(), setRefSystemsHere(), setResource(), and UNavPaint().

double UNavPaint::ppm

private

Pixels per meter on display

Referenced by mousePan(), mouseScale(), paint(), paintCams(), paintFeatures(), paintFreePoly(), paintGmks(), paintHistScan(), paintManData(), paintObstGrp(), paintOdoGrid(), paintPis(), paintPoseHistLine(), paintRangeRings(), paintRoadLine(), paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanNewest(), and toPixels().

CvPoint UNavPaint::pr

private

Pixel position of robot (heading is up)

Referenced by paint(), paintCams(), paintFeatures(), paintFreePoly(), paintGmks(), paintHistScan(), paintManData(), paintObstGrp(), paintOdoGrid(), paintPis(), paintPoseHistLine(), paintPoseHistLines(), paintRangeRings(), paintRoadLine(), paintRobotField(), paintRobotGuidebot(), paintRobotHako(), paintRobotIrobot(), paintRobotMmr(), paintRobotSmr(), paintScanNewest(), and toPixels().

int UNavPaint::rangeRingCnt

number of range rings to paint.

Referenced by UFunctionDisp::handleCommand(), paint(), paintRangeRings(), and UNavPaint().

UResLaserIfScan* UNavPaint::resLaserData

protected

Pointer to resource with laser scan data

Referenced by setResource(), and UNavPaint().

UResLaserIfObst* UNavPaint::resObst

protected

Pointer to laser scanner obstacle resource

Referenced by setResource(), and UNavPaint().

UResPoly* UNavPaint::resPoly

protected

pointer to polyItems

Referenced by paintPolyItems(), setResource(), and UNavPaint().

UResLaserIfRoad* UNavPaint::road

protected

Pointer to road data

Referenced by getImg(), paint(), setResource(), and UNavPaint().

UPose UNavPaint::robotPose

Robot position on image (in screen coordinates - meters above bottom-center of screen)

Referenced by UFunctionDisp::handleCommand(), mousePan(), paint(), and UNavPaint().

UResVarPool* UNavPaint::varRoot

protected

Pointer to (global) var-pool

Referenced by paintVarAdd(), setResource(), and UNavPaint().

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

• unavpaint.h
• unavpaint.cpp