#include <uresobstacle.h>

Inheritance diagram for UResObstacle:

Classes
struct	UVar

Public Member Functions
void	addObstacleParameters ()

int	getFixedObstCnt ()

virtual void	getObstacleGroupSettings (UObstacleGroupLaser *og)

bool	getOutdoorExtraDist ()

bool	isOutdoorContext ()

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

virtual void	obstDataUpdated (UTime poseTime)

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

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

bool	updateMappedObstacles ()

	UResObstacle ()

virtual	~UResObstacle ()

Public Member Functions inherited from UObstaclePool
bool	addObst (ULaserScan *scan, UPoseTime odoPose, int idx1, int idx2, bool outdoorObsts, bool horizontalScan, bool ignoreIfFixed)

bool	addObst (UPolygon *poly, UPoseTime odoPose, bool outdoorObsts, bool horizontalScan, bool ignoreIfFixed)

UObstacleGroupLaser *	advanceNewGroup ()

void	clear ()

void	clearGrp (int idx)

UObstacleGroup *	getFixeds ()

UObstacleGroupLaser *	getGroup (int fromNewest)

int	getGroupsCnt ()

UObstacleGroupLaser *	getObstGrp (UPoseTime pt)

bool	pointsToPolygon (ULaserScan scan, UPoseTime odoPose, int idx1, int idx2, UPolygon p40, bool outdoorObsts, bool horizontalScan)

void	print (const char *prestr)

void	setFixedObstacles (UObstacleGroup *fixedObstGrp)

void	setLogFile (FILE *logFile)

void	setNewGrpDist (double value)

void	setNewGrpTime (double value)

	UObstaclePool ()

virtual	~UObstaclePool ()

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	~UVarMethodImplement ()

Static Public Member Functions
static const char *	getResClassID ()

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

Protected Attributes
UVar	var

Protected Attributes inherited from UObstaclePool
UObstacleGroup *	fixeds

UObstacleGroupLaser *	groups [MAX_OBSTACLE_GROUPS]

int	groupsCnt

FILE *	logo

int	newest

double	newGroupTime

double	newGrpDist

unsigned long	nextSerial

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

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UObstaclePool
static const int	MAX_OBSTACLE_GROUPS = 100

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...

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.

Author: Christian Andersen

Constructor & Destructor Documentation

UResObstacle::UResObstacle ( )

inline

Constructor

References addObstacleParameters(), UObstaclePool::fixeds, getResClassID(), UResBase::setResID(), and ~UResObstacle().

UResObstacle::~UResObstacle ( )

virtual

Destructor

References UObstaclePool::fixeds.

Referenced by UResObstacle().

Member Function Documentation

void UResObstacle::addObstacleParameters ( )

int UResObstacle::getFixedObstCnt ( )

inline

Get number of fixed obstacles.

References UResObstacle::UVar::fixedObsts, UVariable::getInt(), getObstacleGroupSettings(), obstDataUpdated(), updateMappedObstacles(), and var.

Referenced by UFunctionPassable::handleObstGet().

void UResObstacle::getObstacleGroupSettings ( UObstacleGroupLaser * og )

virtual

Load parameter values from current settings pool to this obstacle group

Reimplemented from UObstaclePool.

References UResObstacle::UVar::cogMergeLimit, UVariable::getBool(), UVariable::getDouble(), UVariable::getValued(), UResObstacle::UVar::grpMaxDist, UResObstacle::UVar::grpMaxTime, UResObstacle::UVar::indoorCombineDist, UResObstacle::UVar::obstCogMerge, UResObstacle::UVar::obstMerge, UResObstacle::UVar::obstSingleMargin, UResObstacle::UVar::obstSingleMerge, UResObstacle::UVar::outdoorCombineDist, UResObstacle::UVar::outdoorContext, UObstacleGroupLaser::setMergeDistance(), UObstaclePool::setNewGrpDist(), UObstaclePool::setNewGrpTime(), and var.

Referenced by getFixedObstCnt().

bool UResObstacle::getOutdoorExtraDist ( )

inline

Get the outdoor context variable from the variable pool. Returns true if the outdoor context is true - or if no variable pool is available.

References UResObstacle::UVar::extDist, UVariable::getBool(), and var.

Referenced by UFunctionPassable::handlePass().

static const char* UResObstacle::getResClassID ( )

inlinestatic

Fixed name of this resource type

References snprint().

Referenced by UFunctionPassable::setResource(), and UResObstacle().

bool UResObstacle::isOutdoorContext ( )

inline

Get the outdoor context variable from the variable pool. Returns true if the outdoor context is true - or if no variable pool is available.

References UVariable::getBool(), UResObstacle::UVar::outdoorContext, and var.

Referenced by UFunctionPassable::handlePass().

bool UResObstacle::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

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

Reimplemented from UVarMethodImplement.

References UResBase::isA(), UVariable::setDouble(), updateMappedObstacles(), and var.

Referenced by print().

void UResObstacle::obstDataUpdated ( UTime poseTime )

virtual

Obstacle data is updated - tell resource

Reimplemented from UObstaclePool.

References UResObstacle::UVar::group, UObstaclePool::groupsCnt, UResObstacle::UVar::grps, UObstaclePool::newest, UVariable::setInt(), UVariable::setTime(), UResObstacle::UVar::updateTime, and var.

Referenced by getFixedObstCnt(), UFunctionPassable::handleObstGet(), and UResLobst::sendAsObstacles().

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

inlinevirtual

print status to a string buffer

Reimplemented from UResVarPool.

References addObstacleParameters(), methodCallV(), and snprint().

const char * UResObstacle::snprint	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

References UObstaclePool::getGroup(), UObstaclePool::groupsCnt, mini(), and UObstacleGroup::print().

Referenced by getResClassID(), and print().

bool UResObstacle::updateMappedObstacles ( )

Extract nearby obstacle lines from mapbase and add as fixed obstacles in odometry coordinates. Requires that mapbase and mapPose resources are available beforre the call.

Returns: true if obstacles are available. false if resources are missing.

References UResVarPool::callGlobalV(), UObstacleGroup::clear(), UResObstacle::UVar::fixedObsts, UObstaclePool::fixeds, UResPoseHist::getNewest(), UObstacleGroup::getObstsCnt(), UResPoseHist::getOdoPoseOrigin(), UResBase::getStaticResource(), UVariable::setInt(), UVariable::setPose(), and var.

Referenced by getFixedObstCnt(), UFunctionPassable::handleObstGet(), UFunctionPassable::handlePass(), and methodCallV().

Member Data Documentation

UVar UResObstacle::var

protected

Referenced by addObstacleParameters(), getFixedObstCnt(), getObstacleGroupSettings(), getOutdoorExtraDist(), isOutdoorContext(), methodCallV(), obstDataUpdated(), and updateMappedObstacles().

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

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation