#include <uobstaclepool.h>

Inheritance diagram for UObstacleGroupLaser:

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

bool	addObstPoly (UPolygon *newpoly, UPoseTime pt, bool outdoorObsts, bool horizontalScan, int polyHits=1)

UPoseTime	getPosePrev ()

virtual UObstacle *	makeNewObst ()

void	setMergeDistance (double mergeDist, bool mergeNearObstacles, double cogLimit, bool mergeCogEmbeddedObstacles, double singleLimit, bool mergeSingleObstacles)

void	setPosePrev (UPoseTime pt)

	UObstacleGroupLaser ()

	~UObstacleGroupLaser ()

Public Member Functions inherited from UObstacleGroup
void	clear ()

virtual const char *	getDataType ()

int	getMaxObstsCnt ()

UObstacle *	getNewObst ()

UObstacle *	getObstacle (int idx)

UObstacle *	getObstacle (unsigned long oSerial, bool mayCreate, int *obstacleIndex)

int	getObstsCnt ()

UPoseTime	getPoseFirst ()

UPoseTime	getPoseLast ()

UPoseTime *	getPPoseFirst ()

UPoseTime *	getPPoseLast ()

unsigned long	getSerial ()

void	logAll (unsigned int serial, FILE *logo)

void	print (const char *prestr)

void	print (const char prestr, char buff, const int buffCnt, bool detail)

void	removeAllObsts ()

void	removeInvalid (UTime before, int hitLimit)

void	removeObst (int idx)

void	setPoseFirst (UPoseTime pose)

void	setPoseLast (UPoseTime pose)

void	setSerial (unsigned long value)

	UObstacleGroup ()

	~UObstacleGroup ()

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 UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

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

	UDataBase ()

virtual	~UDataBase ()

Protected Attributes
bool	mergeCogEmbedded

bool	mergeObstacles

bool	mergeSingles

double	obstacleCogMergeLimit

double	obstacleMergeMargin

double	obstacleSingleMargin

UPoseTime	posePrev

Protected Attributes inherited from UObstacleGroup
unsigned long	nextObstSerial

UObstacle *	obsts [MAX_OBSTACLES]

int	obstsCnt

UPoseTime	poseFirst

UPoseTime	poseLast

unsigned long	serial

Additional Inherited Members
Static Public Attributes inherited from UObstacleGroup
static const int	MAX_OBSTACLES = 500

Detailed Description

Obstacle group, that — within reason — can be assumed to have same reference coordinate system, based on odometry. That is, systematic errors in pose within group, can not be corrected for.

Constructor & Destructor Documentation

UObstacleGroupLaser::UObstacleGroupLaser ( )

Constructor

References mergeObstacles, obstacleCogMergeLimit, and obstacleMergeMargin.

Referenced by UObstaclePool::advanceNewGroup().

UObstacleGroupLaser::~UObstacleGroupLaser ( )

Destructor

Member Function Documentation

bool UObstacleGroupLaser::addObst	(	ULaserScan *	scan,
		UPoseTime	odoPose,
		int	idx1,
		int	idx2,
		bool	outdoorObsts,
		bool	horizontalScan
	)

Add this obstacle to group

Parameters

scan	is the laserscan points
odoPose	is odoPose at scantime
idx1	is first measurement in obstacle
idx2	is last measuremnt in obstacle
outdoorObst	changes correlations criteria
horizontalScan	if false, assumed tilted and then obstacles are stretched to correlate with rough grass in last scan.

Returns: true if added

References UPolygon::add(), addObstPoly(), UPolygon::extractConvexTo(), UPolygon::getPoints(), UPolygon::getPointsCnt(), ULaserScan::getPos(), getPosePrev(), UPose::getPoseToMap(), UPosRot::getRtoMMatrix(), ULaserScan::getSensorPose(), UPolygon::removeNearVertex(), UPosRot::setPhi(), UPosRot::setZ(), and UPosition::x.

Referenced by UObstaclePool::addObst().

bool UObstacleGroupLaser::addObstPoly	(	UPolygon *	newpoly,
		UPoseTime	pt,
		bool	outdoorObsts,
		bool	horizontalScan,
		int	polyHits = `1`
	)

Add this obstacle polygon.

Parameters

newpoly	The polygon coordinates is assumed to be in odometry coordinates.
outdoorObst	If 'outdoorObsts', then an extra position is assumed added for correlation (if not horizontal scan). This position is removed before any merge or create is implemented.
horizontalScan	if false, then the extra correlation position is removed after use (for outdoor obstacles only)
polyHits	is number of hits (scans) this obstacle has received true if obstacle is merged or added successfuly

References UPolygon::add(), UObstacle::clear(), UPolygon::clear(), UPolygon::extractConvexTo(), UPolygon::getDistance(), UObstacle::getHits(), UObstacleGroup::getNewObst(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UObstacle::getPoseFirst(), UObstacle::initPoseFirst(), UPolygon::isOverlappingXYconvex(), UObstacle::isValid(), ULock::lock(), UObstacleGroup::MAX_OBSTACLES, maxi(), UObstacle::mergeableOnCogLimits(), mergeCogEmbedded, mergeObstacles, mergeSingles, obstacleCogMergeLimit, obstacleMergeMargin, obstacleSingleMargin, UObstacleGroup::obsts, UObstacleGroup::obstsCnt, UPolygon::pop(), UObstacleGroup::poseLast, posePrev, UPolygon::removeNearVertex(), UObstacleGroup::removeObst(), UObstacleGroup::serial, UObstacle::setHits(), UObstacle::setPoseFirst(), UObstacle::setPoseLast(), UObstacle::setValid(), UPoseTime::t, ULock::unlock(), UPosition::x, and UPosition::y.

Referenced by addObst(), UObstaclePool::addObst(), and UFunctionPassable::handleObstGet().

UPoseTime UObstacleGroupLaser::getPosePrev ( )

inline

Get previous postion. Previous position is the pose for the set of updates before the latest set of updates.

Referenced by addObst(), and UObstaclePool::pointsToPolygon().

virtual UObstacle* UObstacleGroupLaser::makeNewObst ( )

inlinevirtual

This is where new obstacles are created, used by obstacle group, when new obstacles are needed (old obstacles are reused if possible)

Returns: pointer to the newly created obstacle

Reimplemented from UObstacleGroup.

void UObstacleGroupLaser::setMergeDistance	(	double	mergeDist,
		bool	mergeNearObstacles,
		double	cogLimit,
		bool	mergeCogEmbeddedObstacles,
		double	singleLimit,
		bool	mergeSingleObstacles
	)

Set merge parameters for this obstacle group.

Parameters

mergeDist	- merge if this near other obstacles (and mergeNearObstacles is true)
mergeNearObstacles	- allow merge based on distance.
cogLimit	- if mergeCogEmbeddedObstacles is true, then the COG embedded obstacles may extend this far outside other obstacle and still be merged.
mergeCogEmbeddedObstacles	is this COG (Center Of Gravity) embedded merge method enabled. Relevant only if mergeNearObstacles is false.
singleLimit	single point obstacles may be merged if they are this close to other obstacles.
mergeSingleObstacles	should special single point obstacle merge rules be used.