#include <uobstacle.h>

Inheritance diagram for UObstacle:

Public Member Functions
virtual void	clear ()

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

virtual const char *	codeXmlAttributes (char *buf, const int bufCnt)

virtual const char *	getDataType ()

int	getHits ()

double	getMargin ()

UPoseTime	getPoseFirst ()

UPoseTime	getPoseLast ()

UPoseTime *	getPPoseFirst ()

UPoseTime *	getPPoseLast ()

unsigned long	getSerial ()

void	initPoseFirst (UPoseTime pose)

bool	isValid ()

void	logObst (FILE *logo)

bool	mergeableOnCogLimits (UPolygon *other, double margin)

void	print (const char *prestr)

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

void	setHits (int value)

void	setMargin (double value)

void	setPoseFirst (UPoseTime pose)

void	setPoseLast (UPoseTime pose)

void	setSerial (unsigned long value)

void	setValid (bool value)

	UObstacle ()

	~UObstacle ()

Public Member Functions inherited from UPolygon40
virtual void	sortByAngleXYTo (UPosition *pc)

	UPolygon40 ()

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)

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)

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 ()

Protected Attributes
int	hits

double	margin

UPoseTime	pose1

UPoseTime	pose2

unsigned long	serial

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

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

Static Public Attributes inherited from UPolygon40
static const int	MAX_POINTS = 40

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

Detailed Description

A polygon description of an obstacle

Author: Christian Andersen

Constructor & Destructor Documentation

UObstacle::UObstacle ( )

Constructor

References hits, margin, and valid.

Referenced by UObstacleGroup::makeNewObst().

UObstacle::~UObstacle ( )

Destructor

Member Function Documentation

void UObstacle::clear ( void )

virtual

Clear obstaccle

Reimplemented from UPolygon.

Reimplemented in UObstacleVision.

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

Referenced by UObstacleGroupLaser::addObstPoly(), UAvoidPath2::addStartAndExit(), UObstacleVision::clear(), getDataType(), UObstacleGroup::getNewObst(), and UObstacleGroup::UObstacleGroup().

const char * UObstacle::codeXml	(	char *	buf,
		const int	bufCnt,
		char *	extraAttr
	)

virtual

Code this structure in XML format. The open tag includes any additional XML attributes from the codeXmlAttributes function call

Parameters

buf	is the character buffer where the attributes are stored
bufCnt	is the amount of buffer space allocated

Returns: a pointer to the buffer

References buf, UPolygon::codeXml(), UPoseTime::codeXml(), codeXmlAttributes(), getDataType(), mini(), pose1, and pose2.

Referenced by setSerial().

const char * UObstacle::codeXmlAttributes	(	char *	buf,
		const int	bufCnt
	)

virtual

code any special attributes to go into this obstacle, apart from type and name.

Parameters

buf	is the character buffer where the attributes are stored
bufCnt	is the amount of buffer space allocated

Returns: a pointer to the buffer

Reimplemented in UObstacleVision.

References bool2str(), buf, getHits(), getSerial(), and isValid().

Referenced by USmlTag::codeObstacle(), codeXml(), and setSerial().

virtual const char* UObstacle::getDataType ( )

inlinevirtual

Trim obstacle by new scan, i.e Either the obstacle is moved or pose error has changed, or invis due to observation. Takes a laserscan and trims obstacle if seen through Get (end) type of this structure

Reimplemented from UPolygon.

Reimplemented in UObstacleVision, and UObstaclePass.

References clear().

Referenced by USmlTag::codeObstacle(), and codeXml().

int UObstacle::getHits ( )

inline

Get hits count

References hits, and logObst().

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), codeXmlAttributes(), and UObstacleGroup::removeInvalid().

double UObstacle::getMargin ( )

inline

get margin for this obstacle. Margin is a distance from the polygon line, where detections of the obstacle are likely. Used by locater - and obstacle correlation.

References margin, and mergeableOnCogLimits().

Referenced by UObstaclePool::addObst().

UPoseTime UObstacle::getPoseFirst ( )

inline

Get pose1 - obstacle latest seen from this pose.

References pose1.

Referenced by UAvoidPath2::addNoVisLinesAsObstacles(), UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and USmlTag::codeObstacle().

UPoseTime UObstacle::getPoseLast ( )

inline

Get pose2 - obstacle latest seen from this pose.

References pose2.

Referenced by USmlTag::codeObstacle(), and UFunctionPassable::makePoly().

UPoseTime* UObstacle::getPPoseFirst ( )

inline

Get ref to pose1 - obstacle latest seen from this pose.

References pose1.

Referenced by USmlTag::getObstacle().

UPoseTime* UObstacle::getPPoseLast ( )

inline

Get ref to pose2 - obstacle latest seen from this pose.

References pose2.

Referenced by USmlTag::getObstacle(), UObstacleGroup::removeInvalid(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

unsigned long UObstacle::getSerial ( )

inline

Get serial number for obstacle in group

References serial.

Referenced by codeXmlAttributes(), UResAvoid::copyAvoidObstacles(), UAvoidObst::crossingNonVisibilityLine(), UAvoidVertexIdx::extent4thPnt(), UAvoidCellGraph::fillVerticeList(), UAvoidPath2::groupObstacles(), UAvoidPath2::logObstacleGroups(), UAvoidPath2::logPathSequences(), UAvoidCellGraph::makeCells(), UAvoidCellGraph::printObstacleList(), UAvoidCellGraph::printVetrexList(), UFuncObj3d::sendObjects(), UFunctionPassable::sendObstacles(), and UAvoidObst::testVisibility().

void UObstacle::initPoseFirst ( UPoseTime pose )

inline

Set pose1 - obstacle first seen from this pose. also sets pose2, as this is also latest pose.

References hits, pose1, and pose2.

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and UAvoidPath2::addStartAndExit().

bool UObstacle::isValid ( )

inline

is valid flag set

References print(), and valid.

Referenced by UObstacleGroupLaser::addObstPoly(), UReactivePath::avoidObst(), codeXmlAttributes(), UAvoidPath2::groupObstacles(), UNavPaint::paintObstGrp(), UClientFuncLaserGui::paintObstGrp(), UNavView::paintObstGrp(), print(), and UObstacleGroup::print().

void UObstacle::logObst ( FILE * logo )

Save all obstacle verteces to logfile

References UPolygon::points, UPolygon::pointsCnt, UPosition::x, and UPosition::y.

Referenced by getHits(), and UObstacleGroup::logAll().

bool UObstacle::mergeableOnCogLimits	(	UPolygon *	other,
		double	margin
	)

Is other obstacle with meargeable with this. Requires that COG is inside this obstacle, and the most extreme vertex of other obstacle is within margin of this obstacle. The reverse situation is tested too - with same result.

Parameters

other	is the other obstacle.
margin	is the maximum allowed distance of any vertex from other to be outside this obstacle (or the other way around).

Returns: true if mergeable.

References UPolygon::getClosestDistance(), UPolygon::getCogXY(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UPosition::x, and UPosition::y.

Referenced by UObstacleGroupLaser::addObstPoly(), and getMargin().

void UObstacle::print ( const char * prestr )

Print status of this obstacle

Referenced by isValid(), UObstacleGroup::print(), and UObstacleGroup::setSerial().

void UObstacle::print	(	const char *	prestr,
		char *	buff,
		const int	buffCnt
	)

Print obstacle group to string. Returns result in buff, a char buffer of length buffCnt.

References bool2str(), UPolygon::getCogXY(), UPolygon::getCogXYmaxDist(), hits, isValid(), UPolygon::pointsCnt, UPosition::x, and UPosition::y.

void UObstacle::setHits ( int value )

inline

Set hit count

References hits.

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and USmlTag::getObstacle().

void UObstacle::setMargin ( double value )

inline

set margin for this obstacle. Margin is a distance from the polygon line, where detections of the obstacle are likely. Used by locater - and obstacle correlation.

References margin.

Referenced by UResMapObst::getNearObstacles().

void UObstacle::setPoseFirst ( UPoseTime pose )

inline

Set pose1 only (update).

References pose1, and setPoseLast().

Referenced by UAvoidPath2::addNoVisLinesAsObstacles(), UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and UResMapObst::getNearObstacles().

void UObstacle::setPoseLast ( UPoseTime pose )

Set pose2 - obstacle latest seen from this pose. and increase pose hit cnt

References hits, pose2, UPoseTime::t, and valid.

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), UResMapObst::getNearObstacles(), and setPoseFirst().

void UObstacle::setSerial ( unsigned long value )