UObj3dPool Class Reference

#include <uobj3dpool.h>

Inheritance diagram for UObj3dPool:

Public Member Functions
void	addObstacle (UPolygon *newPoly, UPoseTime odoPose, bool isHuman, bool isGndBased)
UObj3dGroup *	advanceNewGroup ()
void	clear ()
void	clearGrp (int idx)
UObj3dGroup *	getGroup (int fromNewest)
int	getGroupsCnt ()
virtual void	getObstacleGroupSettings (UObj3dGroup *og)
UObj3dGroup *	getObstGrp (UPoseTime pt)
virtual void	obstDataUpdated (UTime poseTime)
void	print (const char *prestr)
void	setLogFile (FILE *logFile)
void	setNewGrpDist (double value)
void	setNewGrpTime (double value)
	UObj3dPool ()
virtual	~UObj3dPool ()

Static Public Attributes
static const int	MAX_OBSTACLE_GROUPS = 100

Protected Attributes
UObj3dGroup *	groups [MAX_OBSTACLE_GROUPS]
int	groupsCnt
FILE *	logo
int	newest
double	newGroupTime
double	newGrpDist
unsigned long	nextSerial

Detailed Description

Historic updated obstacles, divided into groups

Author

Christian Andersen

Constructor & Destructor Documentation

UObj3dPool::UObj3dPool

(

)

Constructor

UObj3dPool::~UObj3dPool ( )

virtual

Destructor

Member Function Documentation

void UObj3dPool::addObstacle	(	UPolygon *	newPoly,
		UPoseTime	odoPose,
		bool	isHuman,
		bool	isGndBased
	)

Add this polygon as an obstacle. The obstacle can be either a human or a ground based or both. If not ground based, then the obstacle is detected from higher than ground stereo detecttions.

Parameters

newPoly	is the new polygon, with positions in robot coordinates.
odoPose	is the robot pose at sensor time
isHuman	is detected from above ground and is "human" sized
isGndBased	obstacle is detected as edge of ground plane.

References UObj3dGroup::addObstPoly(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UPose::getPoseToMap(), and UPoseTime::t.

UObj3dGroup * UObj3dPool::advanceNewGroup

(

)

Advance to next obstacle group, and return pointer to new cleared group.

References UObstacleGroup::clear(), UObstacleGroup::setSerial(), and UObj3dGroup::UObj3dGroup().

void UObj3dPool::clear

(

void

)

Clear all obstacles from obstacle pool, that is remove all obstacles from all groups, but maintain the groups with pose and other informations.

References UObstacleGroup::getPoseLast(), and UObstacleGroup::removeAllObsts().

Referenced by UFuncObj3d::handleCommand().

void UObj3dPool::clearGrp

(

int

idx

)

Clear all obstacles from obstacle group. The 'idx' is the group to clear, idx = 0 clears the newest group and idx 1..N clears corresponding older groups.

References UObstacleGroup::getPoseLast().

Referenced by UFuncObj3d::handleCommand().

UObj3dGroup * UObj3dPool::getGroup

(

int

fromNewest

)

Get number of groups in history

Referenced by UFuncObj3d::sendObjects().

int UObj3dPool::getGroupsCnt ( )

inline

Get number of groups in history

Referenced by UFuncObj3d::sendObjects().

void UObj3dPool::getObstacleGroupSettings ( UObj3dGroup *  og )

virtual

Load parameter values from current settings pool to this obstacle group

Reimplemented in UResObj3d.

UObj3dGroup * UObj3dPool::getObstGrp

(

UPoseTime

pt

)

Get the obstacle group relevant for this time and robot position. Return pointer to the group.

References UObstacleGroup::getPoseFirst(), UObstacleGroup::logAll(), UObstacleGroup::removeInvalid(), UObstacleGroup::setPoseFirst(), UObj3dGroup::setPosePrev(), UPoseTime::t, UPose::x, and UPose::y.

Referenced by UFuncObj3d::handleCommand().

void UObj3dPool::obstDataUpdated ( UTime  poseTime )

virtual

Obstacle data is updated - tell resource

Reimplemented in UResObj3d.

void UObj3dPool::print

(

const char *

prestr

)

Print status to console

void UObj3dPool::setLogFile

(

FILE *

logFile

)

Set obstacle logfile

void UObj3dPool::setNewGrpDist ( double  value )

inline

Set distance traveled by robot before new obstacle group are to be formed (meter).

void UObj3dPool::setNewGrpTime ( double  value )

inline

Set time passed before new obstacle group are to be formed (in seconds).

Member Data Documentation

UObj3dGroup* UObj3dPool::groups[MAX_OBSTACLE_GROUPS]

protected

Obstacle groups, each holding a coordinate-wise coherent set of obstacles - distance less than e.g 25 m from start to end pose.

int UObj3dPool::groupsCnt

protected

Actual used number of obstacle groups

FILE* UObj3dPool::logo

protected

Obstacle logfile

const int UObj3dPool::MAX_OBSTACLE_GROUPS = 100

static

Max number of groups

int UObj3dPool::newest

protected

The most recent obstacle group. When out of groups, then reuse.

double UObj3dPool::newGroupTime

protected

Time passed before new obstacle group are to be formed (in seconds).

double UObj3dPool::newGrpDist

protected

Distance traveled by robot before new obstacle group are to be formed (meter).

unsigned long UObj3dPool::nextSerial

protected

Next serial number to use for obstacle group

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

• uobj3dpool.h
• uobj3dpool.cpp