UNamedBox Class Reference

Public Member Functions
void	clearPoly ()
	clear detections More...
void	createGlobalVariables (UVarPool *vp)
	create global variables More...
int	doDetect (ULaserData *data, int polySys, UMatrix4 *mRS, UMatrix4 *mSR, UMatrix4 *mRG)
void	setBox (const char *boxname, int idx, double x1, double y1, double x2, double y2, UMatrix4 *mRO)
void	setCornersAsPolygon (UMatrix4 *mRG)
	UNamedBox ()

Public Attributes
double	area
	area of box - if 0, then box is invalid More...
UPolygon	cornerPolygon
	corner polygon More...
UPosRot *	laserPose
	laser scanner pose More...
UVarPool *	parentStruct
	parent structure for global variables More...
UPolygon	poly
	polygon with detections More...
UVariable *	varBoxLimits
	box definition in laser scanner coordinates More...
UVariable *	varCooSys
	selected coordinate system More...
UVariable *	varDetections
	detections More...
UVariable *	varDetectMinMaxCoo
	detection limits in selected coordinate system coordinates More...
UVariable *	varDetectMinMaxRob
	detection limits in robot coordinates More...
UVariable *	varName
	name of structure More...

Detailed Description

Class with one detect box

Constructor & Destructor Documentation

UNamedBox::UNamedBox ( )

inline

References UPolygon::setSize().

Member Function Documentation

void UNamedBox::clearPoly ( )

inline

clear detections

References UPolygon::clear().

Referenced by UNamedBoxes::doDetect().

void UNamedBox::createGlobalVariables ( UVarPool *  vp )

inline

create global variables

References UVarPool::addVar(), and UVarPool::addVarA().

Referenced by UNamedBoxes::addBox().

int UNamedBox::doDetect ( ULaserData *  data, int  polySys, UMatrix4 *  mRS, UMatrix4 *  mSR, UMatrix4 *  mRG  )

inline

test if there are detections within boxex for this scan.

Parameters

data	is pointer to laser scan detections.
noPoly	if true, then no displayable polygon is generated.
mRS	is conversion matrix from Robot to Sensor coordinates.
mSR	is conversion matrix from Sensor to Robot coordinates.
mRG	is conversion matrix from Robot to selected (global) coordinate system.

Returns

number of detections inside the defined box.

References UPolygon::add(), UPolygon::clear(), UPosition::clear(), UPolygon::copyPointsTo(), UPolygon::extractConvexTo(), ULaserData::get2d(), UVariable::getDouble(), UPolygon::getLimits(), UPolygon::getPoints(), UPolygon::getPointsCnt(), ULaserData::getRangeCnt(), U2Dpos::length(), UPolygon::setAsPolygon(), setCornersAsPolygon(), UVariable::setDouble(), UVariable::setInt(), U2Dpos::x, UPosition::x, U2Dpos::y, and UPosition::y.

Referenced by UNamedBoxes::doDetect().

void UNamedBox::setBox ( const char *  boxname, int  idx, double  x1, double  y1, double  x2, double  y2, UMatrix4 *  mRO  )

inline

set box

Parameters

boxname	name of box - used as polygon name
idx	is the index or box number
x1,y1,x2,y2	is the corner coordinates in robot coordinates.
mRO	coordinate conversion matrix to odometry coordinates

References UPolygon::color, setCornersAsPolygon(), UVariable::setValued(), UVariable::setValues(), UPosition::x, and UPosition::y.

Referenced by UNamedBoxes::addBox().

void UNamedBox::setCornersAsPolygon ( UMatrix4 *  mRG )

inline

get box corners as polygon

Parameters

boxpoly	is the destination polygon.
mCC	is the converion matrix to convert the coordinates (no conversion if NULL)

References UPolygon::add(), UPolygon::clear(), UPolygon::color, UVariable::getDouble(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UPolygon::setAsPolygon(), UPosition::x, and UPosition::y.

Referenced by doDetect(), and setBox().

Member Data Documentation

double UNamedBox::area

area of box - if 0, then box is invalid

Referenced by UNamedBoxes::addBox().

UPolygon UNamedBox::cornerPolygon

corner polygon

Referenced by UFuncLaserBox::handleCommand().

UPosRot* UNamedBox::laserPose

laser scanner pose

UVarPool* UNamedBox::parentStruct

parent structure for global variables

Referenced by UNamedBoxes::doDetect().

UPolygon UNamedBox::poly

polygon with detections

Referenced by UFuncLaserBox::handleCommand().

UVariable* UNamedBox::varBoxLimits

box definition in laser scanner coordinates

UVariable* UNamedBox::varCooSys

selected coordinate system

Referenced by UNamedBoxes::doDetect().

UVariable* UNamedBox::varDetections

detections

Referenced by UFuncLaserBox::handleCommand().

UVariable* UNamedBox::varDetectMinMaxCoo

detection limits in selected coordinate system coordinates

UVariable* UNamedBox::varDetectMinMaxRob

detection limits in robot coordinates

UVariable* UNamedBox::varName

name of structure

Referenced by UNamedBoxes::findNamedBox(), and UFuncLaserBox::handleCommand().

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

• ufunclaserbox.cpp