#include <uprobpoly.h>

Inheritance diagram for UProbPoly:

Public Member Functions
bool	addPos (UPosition pos, bool hardEdge)

virtual void	clear ()

double	getCromaSD ()

int	getCrossingsAtX (double atX, double ys, bool isYAnObst, int bufSize)

int	getCrossingsAtXinYorder (double atX, double ys, bool isYAnObst, int bufSize)

int	getCrossingsAtY (double atY, double xs, bool xIsAnObst, int bufSize)

bool *	getIsObst ()

UPose	getPoseNow ()

UPose	getPoseOrg ()

UTime	getPoseTime ()

bool	isValid ()

bool	moveToMap (UPose toPose)

bool	moveToPose (UPose poseNew, UTime poseTime)

bool	paintRobot (UImage *img, int refX, int refY, double cellSize)

void	print (const char *prestring, bool verbose)

void	setCromaSD (double value)

bool	setPoly (UPose robPose, UTime poseTime)

void	setPoseNow (double x, double y, double h)

void	setPoseNow (UPose pose)

void	setPoseOrg (UPose pose)

void	setPoseOrg (double x, double y, double h)

void	setTime (UTime t)

void	setValid (bool value)

	UProbPoly ()

	~UProbPoly ()

Public Member Functions inherited from UPolygon
bool	add (UPosition point)

bool	add (UPosition *point)

bool	add (UPolygon *poly)

bool	add (double x, double y, double z=0)

virtual char *	codeXml (char buf, const int bufCnt, const char extraAttr)

char *	codeXml (const char name, char buf, int bufCnt, const char *extra)

bool	copy (CvPoint *source, int sourceCnt)

bool	copyPointsTo (UPolygon *destination)

bool	copyTo (UPolygon *destination)

bool	cut (U2Dlined line, UPolygon source, UPolygon dstL, UPolygon dstR)

int	cutPoints (U2Dlined line, U2Dpos xPnts, int xPntsCnt)

bool	extractConvexTo (UPolygon *destination)

double	getClosestDistance (double toX, double toY, double maxRelevantDist, UPosition closest, bool atVertex=NULL)

int	getCloseVertexCnt (double dist)

UPosition	getCogXY ()

double	getCogXYmaxDist ()

int	getCrossings (ULineSegment *seg, UPosition xes[], const int xesCnt)

virtual const char *	getDataType ()

double	getDistance (double x, double y, int closeSide=NULL, int closeVertex=NULL)

double	getDistanceXYsigned2 (UPosition pos, int idx, UPosition posOnPolygon, bool *vertex)

UPosition *	getFromTop (int fromTop)

UPosition	getLastPoint ()

bool	getLimits (double minx, double miny, double maxx, double maxy)

UPosition *	getLowerLeftXY ()

double	getMostDistantVertexXY (double x, double y, double h, int side, UPosition *posOnPolygon)

int	getMostDistantXY (ULineSegment line, bool leftSide, bool insideSegment, double distance, int exclude=-1, double *tPos=NULL)

UPosition	getPoint (int index)

UPosition *	getPoints ()

int	getPointsCnt ()

int	getPointsMax ()

UPosition	getPPoint (int index)

UPosition **	getPPoints ()

ULineSegment	getSegment (int index)

double	getXYarea ()

bool	insert (UPosition pos, int index)

virtual bool	isAlsoA (const char *typeString)

bool	isCogXYvalid ()

bool	isEmbedded (UPolygon other, double maxDist=NULL)

bool	isInsideConvex (double x, double y, double margin=0.0)

bool	isOverlappingXY (UPolygon poly2, int count=NULL, UPosition xes[]=NULL, const int xesCnt=0)

bool	isOverlappingXYconvex (UPolygon poly2, double margin, int closeThis=NULL, int *closePoly2=NULL)

bool	isOverlappingXYconvex2 (UPolygon poly2, double margin, UPosition close=NULL)

bool	isOverlappingXYconvexSeg (UPolygon poly2, double margin, int closeThis[6], int closeThisCnt, int closePoly2[6], int *closePoly2Cnt)

bool	isOverlappingXYtype (UPolygon poly2, int xcnt, UPosition xes[], const int xesCnt, int type[])

bool	isPolygon ()

bool	isPolyline ()

UPosition	pop ()

void	print (const char *prestring)

void	printSort (const char *prestring)

bool	push (UPosition *point)

void	remove (int index)

int	removeNearVertex (double dist)

void	setAsPolygon (bool value=true)

void	setAsPolyline (bool value=true)

void	setCogXYvalid (bool value)

void	setColor (const char *colorStr)

bool	setPoint (int idx, UPosition pos)

void	setPointsCnt (int value)

bool	setSize (int maxPoints)

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

virtual void	sortByAngleXYTo (UPosition *pc)

bool	toConvex ()

	UPolygon ()

virtual	~UPolygon ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Static Public Attributes
static const int	MAX_POINTS = 900

Protected Attributes
bool	isObst [MAX_POINTS]

UPose	poseNow

UPose	poseOrg

UTime	poseOrgTime

double	seedCromaSD

bool	valid

Protected Attributes inherited from UPolygon
bool	aPolygon

UPosition	cogXY

double	cogXYmaxDist

bool	cogXYvalid

UPosition *	points

int	pointsCnt

int	pointsMax

UPosition **	ppoints

int	ppointsCnt

Private Attributes
UPosition	data [MAX_POINTS]

UPosition *	pdata [MAX_POINTS]

Additional Inherited Members
Public Attributes inherited from UPolygon
char	color [8]

Protected Member Functions inherited from UPolygon
bool	copySortedTo (UPolygon *destination)

Detailed Description

Maximum number of points in each polygon. Maximum number of stored path polygons Class to hold one passable polygon and the related information

Constructor & Destructor Documentation

UProbPoly::UProbPoly ( )

Constructor

References clear(), data, MAX_POINTS, pdata, UPolygon::points, UPolygon::pointsMax, and UPolygon::ppoints.

UProbPoly::~UProbPoly ( )

Destructor

Member Function Documentation

bool UProbPoly::addPos	(	UPosition	pos,
		bool	hardEdge
	)

Add a new position to the polygon. Returns true if space for new position

References UPolygon::add(), isObst, MAX_POINTS, and UPolygon::pointsCnt.

Referenced by UImgPolyProj::doProjectPolygonToFloorReal(), UImgProj::doProjectPolygonToFloorReal(), and USmlTag::getProbPoly().

void UProbPoly::clear ( void )

virtual

Clear data in polygon

Reimplemented from UPolygon.

References UPolygon::clear(), seedCromaSD, and valid.

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), USmlTag::getProbPoly(), UClientFuncPath::handlePathPolygonData(), and UProbPoly().

double UProbPoly::getCromaSD ( )

inline

Set the value seedCromaSD to this value

Referenced by USmlTag::sendProbPoly().

int UProbPoly::getCrossingsAtX	(	double	atX,
		double *	ys,
		bool *	isYAnObst,
		int	bufSize
	)

finds the rectangular limits in 2 dimentions (X and Y) of this polygon. Returns true if there is any points in the polygon and all 4 limit value pointers are provided Get get polygon crossings with this x-line. The xrossings are returned to an array of Y values. The buffer size is bufSize. No more than bufCnt crossings are returned. Returns the number of found crossings. Returns -1 if buffer is NULL and 0 if no polygon or no crossings. The crossings are returnned in the order found, while traversing polygon forward. If 'isYanObst' != NULL, then this array is filled with information about crossing is with an image edge or an assumed obstacle. Returns bufSize if at least bufSize crossings are found.

References U2Dline::getCrossing(), isObst, UPolygon::points, UPolygon::pointsCnt, U2Dline::set2P(), U2Dline::setPV(), UPosition::x, and UPosition::y.

Referenced by getCrossingsAtXinYorder(), and setPoseOrg().

int UProbPoly::getCrossingsAtXinYorder	(	double	atX,
		double *	ys,
		bool *	isYAnObst,
		int	bufSize
	)

Get crossings at this x-value and sort result in decreasing y order. Returns number of crossings

References a, and getCrossingsAtX().

Referenced by setPoseOrg().

int UProbPoly::getCrossingsAtY	(	double	atY,
		double *	xs,
		bool *	xIsAnObst,
		int	bufSize
	)

Same as GetCrossingsAtX, but for crossings of an Y-line. The crossings are sorted in increasing x order.

References U2Dline::getCrossing(), isObst, UPolygon::points, UPolygon::pointsCnt, U2Dline::set2P(), U2Dline::setPV(), UPosition::x, and UPosition::y.

Referenced by UProbGrid::makeProbGrid2(), and setPoseOrg().

bool* UProbPoly::getIsObst ( )

inline

Get pointer to first element in polygon Get pointer to first boolean flag for edge not beeing on an image edge

References isObst.

Referenced by UProbGrid::getNewIsObst(), UClientFuncPath::handlePathPolygonData(), UProbGrid::makeProbGrid(), UNavPaint::paintFreePoly(), UClientFuncLaserGui::paintFreePoly(), UNavView::paintFreePoly(), and USmlTag::sendProbPoly().

UPose UProbPoly::getPoseNow ( )

inline

Get number of vertices in polygon Get pointer to number of vertices in polygon. Used, when adjusting number of valid polygons. Get pose used in last projection.

References poseNow.

Referenced by UProbGrid::makeProbGrid(), and UProbGrid::makeProbGrid2().

UPose UProbPoly::getPoseOrg ( )

inline

Get pose used in last projection.

References poseOrg.

Referenced by UClientFuncLaserGui::doImage(), UResCamIfPath::newDataAvailable(), and USmlTag::sendProbPoly().

UTime UProbPoly::getPoseTime ( )

inline

Get time for dataset

References poseOrgTime.

Referenced by UClientFuncLaser::handleGetComplexData(), UProbGrid::makeProbGrid(), UProbGrid::makeProbGrid2(), UResCamIfPath::newDataAvailable(), USmlTag::sendProbPoly(), and UResCamIfPath::snprint().

bool UProbPoly::isValid ( )

inline

Get valid flag

References valid.

Referenced by USmlTag::getProbPoly(), UResCamIfPath::newDataAvailable(), and UResCamIfPath::snprint().

bool UProbPoly::moveToMap ( UPose toPose )

Move the positions in the polygon to map coordinates, assuming coordinates are relatiive to this pose.

References UPose::getPoseToMap(), UPolygon::points, UPolygon::pointsCnt, and poseNow.

bool UProbPoly::moveToPose	(	UPose	poseNew,
		UTime	poseTime
	)

Move position back corresponding so that all points now are seen from this pose.

References absd(), UPose::getMapToPose(), UPose::h, UPolygon::points, UPolygon::pointsCnt, poseNow, UPose::x, and UPose::y.

Referenced by UProbGrid::makeProbGrid(), and UProbGrid::makeProbGrid2().

bool UProbPoly::paintRobot	(	UImage *	img,
		int	refX,
		int	refY,
		double	cellSize
	)

Paint robot pose in image (in blue) prior to painting probability grid in green plane. The refX, refY is the center position, where robot is now. cellSize is scale inmeters per pixel.

References UImage::cvArr(), UPose::getPoseToMap(), poseNow, poseOrg, UPosition::position(), roundi(), UPosition::x, and UPosition::y.

Referenced by UProbGrid::makeProbGrid(), UProbGrid::makeProbGrid2(), and setPoseOrg().

void UProbPoly::print	(	const char *	prestring,
		bool	verbose
	)

Print polygon to console

References bool2str(), isObst, UPolygon::points, UPolygon::pointsCnt, poseNow, poseOrgTime, UPose::print(), UPosition::print(), and UTime::print().

Referenced by UProbPolyQueue::print(), and setPoseOrg().

void UProbPoly::setCromaSD ( double value )

inline

Set the value seedCromaSD to this value

References seedCromaSD.

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), and USmlTag::getProbPoly().

bool UProbPoly::setPoly	(	UPose	robPose,
		UTime	poseTime
	)

Allocates new polygon space and sets pose and time. The polygon count is set to buffer size.

References poseNow, poseOrg, poseOrgTime, and valid.

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), USmlTag::getProbPoly(), and UProbGrid::setNewPolygon().

void UProbPoly::setPoseNow	(	double	x,
		double	y,
		double	h
	)

inline

Set current pose

References poseNow, and UPose::set().

void UProbPoly::setPoseNow ( UPose pose )

inline

Set current pose

References poseNow.

void UProbPoly::setPoseOrg ( UPose pose )

inline

Set position when data were captured (Original pose)

References poseOrg.

Referenced by USmlTag::getProbPoly().

void UProbPoly::setPoseOrg	(	double	x,
		double	y,
		double	h
	)

inline

Set current pose

References getCrossingsAtX(), getCrossingsAtXinYorder(), getCrossingsAtY(), img, paintRobot(), poseOrg, print(), and UPose::set().

void UProbPoly::setTime ( UTime t )

inline

Set the polygon count - if values are set from the outside. Set polygon origin time

References poseOrgTime.

Referenced by UClientFuncPath::handlePathPolygonData().

void UProbPoly::setValid ( bool value )

inline

Send polygon packed in SML to client. The pack is framed with the message tag name and with a 2D polygon frame:
<tagname name="name" type="UProbPoly">
<UProbPoly count="N" hasedge="true">
<poly2db x="1.2e0" y="1.2e1" edge="true/false/">
...
</UProbPoly></tagname>. Returns true if send. Set valid flag

References valid.

Referenced by USmlTag::getProbPoly(), UClientFuncLaser::handleGetComplexData(), UClientFuncPath::handlePathPolygonData(), UProbPolyQueue::lockNextIn(), and UProbPolyQueue::unlockNextIn().

Member Data Documentation

UPosition UProbPoly::data[MAX_POINTS]

private

Array of points

Referenced by UProbPoly().

bool UProbPoly::isObst[MAX_POINTS]

protected

Points describing the passabel path Number of points in polygon Flag to mark if the corresponding point were on image edge

Referenced by addPos(), getCrossingsAtX(), getCrossingsAtY(), getIsObst(), and print().

const int UProbPoly::MAX_POINTS = 900

static

Referenced by addPos(), UProbGrid::makeProbGrid(), and UProbPoly().

UPosition* UProbPoly::pdata[MAX_POINTS]

private

Array of pointers for sorting etc

Referenced by UProbPoly().

UPose UProbPoly::poseNow

protected

Pose that is correct for the current polygon projection.

Referenced by getPoseNow(), moveToMap(), moveToPose(), paintRobot(), print(), setPoly(), and setPoseNow().

UPose UProbPoly::poseOrg

protected

Original pose for this polygon.

Referenced by getPoseOrg(), paintRobot(), setPoly(), and setPoseOrg().

UTime UProbPoly::poseOrgTime

protected

Time of original pose polygon

Referenced by getPoseTime(), print(), setPoly(), and setTime().

double UProbPoly::seedCromaSD

protected

If the polygon is from a path analysis, there is a standard deviation of the seed area cromatisity, that might be relevant. This can be stored in this variable.

Referenced by clear(), and setCromaSD().

bool UProbPoly::valid

protected

Is polygon valid, i.e. is all received

Referenced by clear(), isValid(), setPoly(), and setValid().

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

Public Member Functions

Static Public Attributes

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation