#include <u3d.h>

Inheritance diagram for UPosition:

Public Member Functions
void	add (const UPosition *pos)

void	add (const UPosition pos)

void	add (const double ix, const double iy, const double iz)

UPosition	added (UPosition *pos)

UPosition	added (UPosition pos)

UMatrix4	asCol3 ()

UMatrix4	asCol4 ()

UMatrix4	asMatrix4x4 ()

UMatrix4	asRow3 ()

UMatrix4	asRow4 ()

UMatrix4	asVector3 (bool column)

UMatrix4	asVector4 (bool column)

void	clear (void)

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

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

int	copy (UMatrix4 *pos)

int	copy (const URotation *rot)

UPosition	cross (UPosition p2)

void	cross (UPosition p1, UPosition p2)

double	dist (const UPosition *pTo)

double	dist (UPosition To)

double	dist ()

double	distSq (const UPosition *pTo)

double	distSq ()

double	distXY ()

double	distXY (UPosition p2)

double	dot (UPosition p2)

double	get (int idx)

virtual const char *	getDataType ()

UMatrix4	getPixelPos (UMatrix4 A, UMatrix4 b)

UPosition *	getPos ()

UPosition	getTangentPointXY (const UPosition centre, const double radius, const bool rightSide, bool valid, double ang=NULL)

bool	load (const char *valueString)

int	LoadFromReg (Uconfig ini, const char subject, const char *key)

UPosition	operator* (const double scalar)

void	operator*= (const double scalar)

UPosition	operator+ (UPosition pos)

void	operator+= (const UPosition pos)

UPosition	operator- (UPosition pos)

void	operator-= (const UPosition pos)

UPosition	operator= (UMatrix4 vec)

UPosition	operator= (const URotation rot)

UPosition	operator= (const U2Dpos val)

void	print (const char *leadString)

void	println (const char *leadString)

bool	save (FILE fmap, const char key)

int	SaveToReg (Uconfig ini, const char subject, const char *key)

void	scale (const double val)

UPosition	scaled (const double val)

void	set (const double ix, const double iy, const double iz)

void	set (const int idx, const double value)

void	setPos (UPosition fromPos)

void	show (const char *leadString)

virtual void	snprint (const char leadString, char s, const int bufferLength)

void	sprint (char s, const char leadString)

void	subtract (const UPosition *pos)

UPosition	subtracted (UPosition *pos)

UPosition	subtracted (UPosition pos)

int	toUnitVector ()

void	transfer (UMatrix4 *mA)

UPosition	transferred (UMatrix4 *mA)

	UPosition ()

	UPosition (double ix, double iy, double iz)

	UPosition (double ix, double iy)

virtual	~UPosition ()

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

virtual bool	isAlsoA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Static Public Member Functions
static UPosition	position (double ix, double iy, double iz)

Public Attributes
double	x

double	y

double	z

Detailed Description

General class to hold x,y,z position x is left, y is up and z is forward for 3D coordinates unit is meter

Constructor & Destructor Documentation

UPosition::UPosition ( )

Constructor with zero initial value.

UPosition::~UPosition ( )

virtual

Destructor.

UPosition::UPosition	(	double	ix,
		double	iy,
		double	iz
	)

Constructor with initial values.

UPosition::UPosition	(	double	ix,
		double	iy
	)

inline

Constructor with initial values.

References UPos::x, and UPos::y.

Member Function Documentation

void UPosition::add ( const UPosition * pos )

Add 'pos' to this position.

References x, y, and z.

Referenced by ULaserMeasurement::clear(), UFakeMap::getFake2range(), handlePeopleDetection(), operator+=(), and UFuncStraightLine::toRobot().

void UPosition::add ( const UPosition pos )

Add 'pos' to this position.

References x, y, and z.

void UPosition::add	(	const double	ix,
		const double	iy,
		const double	iz
	)

Add (ix, iy, iz) to this position.

References x, y, and z.

UPosition UPosition::added ( UPosition * pos )

Return this position added with 'pos', but leave this position unchanged.

References x, y, and z.

Referenced by operator+().

UPosition UPosition::added ( UPosition pos )

Return this position added with 'pos', but leave this position unchanged.

References x, y, and z.

UMatrix4 UPosition::asCol3 ( )

inline

position as [x,y,z] column.

References add.

UMatrix4 UPosition::asCol4 ( )

inline

position as homogenous [x,y,z,1] column.

UMatrix4 UPosition::asMatrix4x4 ( )

Return as translation matrix, Returns: (1,0,0,-x; 0,1,0,-y; 0,0,1,-z; 0,0,0,1).

References UMatrix::setRC(), x, y, and z.

Referenced by URotation::asMatrix4x4CtoW(), URotation::asMatrix4x4MtoR(), URotation::asMatrix4x4RtoM(), and URotation::asMatrix4x4WtoC().

UMatrix4 UPosition::asRow3 ( )

inline

position as [x,y,z] row.

UMatrix4 UPosition::asRow4 ( )

inline

position as homogenous [x,y,z,1] row.

UMatrix4 UPosition::asVector3 ( bool column )

Returns position as [x,y,z] vector. column or row.

References UMatrix::getData(), UMatrix::setSize(), x, y, and z.

Referenced by URotation::asVector3().

UMatrix4 UPosition::asVector4 ( bool column )

Returns position as homogenous [x,y,z,1] vector. Column or row

References UMatrix::getData(), UMatrix::setSize(), x, y, and z.

Referenced by URotation::asVector4(), UCamMounted::getMtoPix(), getPixelPos(), transfer(), and transferred().

void UPosition::clear ( void )

Clear position to (0,0,0).

Referenced by UAvoidPoint::clear(), UPosRot::clear(), ULine::clear(), UPolygon::cut(), UPolygon::cutPoints(), UNamedBox::doDetect(), UImage::GetNewNonCameraImage(), UPlane::getPlaneCrossing(), handlePeopleDetection(), UResPcp::methodCall(), UResPoly::methodCall(), UResPcp::methodCallV(), UResPoly::methodCallV(), URotation::setFromYZ(), UAvoidPoint::UAvoidPoint(), and UImage::UImage().

const char * UPosition::codeXml	(	char *	buf,
		const int	bufCnt,
		const 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
extraAttr	is an optional extra set of attributes, pre-coded with name and value

Returns: a pointer to the buffer

References buf, x, y, and z.

Referenced by USmlTag::codePosition(), codeXml(), UPolygon::codeXml(), and UFunctionLaser::handleSetCommand().

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

virtual

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

Parameters

name	optional extra name value for a name attribute.
buf	is the character buffer where the attributes are stored
bufCnt	is the amount of buffer space allocated
extraAttr	is an optional extra set of attributes, pre-coded with name and value

Returns: a pointer to the buffer

References codeXml().

int UPosition::copy ( UMatrix4 * pos )

Set position from vector. If vector has length 3, then just copy x = pos.m[0], ... if vector has length 4, then scale with pos.m[3].

References UMatrix::getData(), UMatrix::size(), x, y, and z.

Referenced by URotation::asVector3(), URotation::asVector4(), URotation::copy(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), UCamMounted::getMtoPix(), operator=(), URotation::SaveToReg(), transfer(), and transferred().

int UPosition::copy ( const URotation * rot )

Set position from vector. If vector has length 3, then just copy x = pos.m[0], ... if vector has length 4, then scale with pos.m[3]. Set position as numeric copy of three rotation values. x = rot.Omega, y = rot.Phi, z = rot.Kappa.

References URotation::Kappa, URotation::Omega, URotation::Phi, x, y, and z.

UPosition UPosition::cross ( UPosition p2 )

Calculate cross-product with this position (vector)

Parameters

p2	is a 3d vector

Returns: (this x p2) = (y*v.z-z*v.y, z*v.x-x*v.z, x*v.y-y*v.x)

References x, y, and z.

Referenced by cross(), UPlane::getPlaneCrossing(), UOriPlane::print(), UPlane::set(), and URotation::setFromYZ().

void UPosition::cross	(	UPosition	p1,
		UPosition	p2
	)

inline

Sets this vector as a cross product of 2 vectors

References buf, and cross().

double UPosition::dist ( const UPosition * pTo )

Returns absolute distance to another position.

References distSq().

Referenced by UReactivePath::avoidObst(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UCamPool::decodeReplayLine(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), ULaserObst::findEdgeObstacle(), UReactivePath::getTangentMidPose(), ULaserPi::getTopHeight(), UFuncLocalize::handleAddLine(), UFuncLoca2::handleAddLine(), UFuncObj3d::handleCommand(), UFuncLoca2::handleCommand(), UFunctionPassable::handleObstGet(), UAvoidPath2::isAfterDestination(), UPolygon::isOverlappingXYconvex(), UPolygon::isOverlappingXYconvexSeg(), ULine::isValid(), UPaintPolygon::makePolyCloud(), UResCamIfGmk::newDataAvailable(), UPlane::set(), UAvoidPath2::setClosestPoint(), ULineSegment::setFromPoints(), UAvoidPath2::setTurnCentre(), ULaserScan::setVariance(), UAvoidPath2::toReplaceOldPoint(), URoadLineData::update(), UResRoadLine::update(), and UAvoidPath2::validNewClosePoint().

double UPosition::dist ( UPosition To )

inline

Returns absolute distance to another position.

References dist.

double UPosition::dist ( )

inline

Returns absolute length of this vector (distance to (0,0,0)).

Referenced by toUnitVector().

double UPosition::distSq ( const UPosition * pTo )

Returns absolute distance to another position squared

References sqr(), x, y, and z.

Referenced by ULaserMeasurement::clear(), UFakeMap::copyToPoly(), and ULineSegment::getDistanceFromSegSq().

double UPosition::distSq ( )

inline

Returns squared length of this vector (distance to (0,0,0)).

References sqr(), UPos::x, and UPos::y.

Referenced by dist().

double UPosition::distXY ( )

inline

Get the xy distance from 0,0.

References UPos::x, and UPos::y.

Referenced by UAvoidPath2::isCrossingManPoly().

double UPosition::distXY ( UPosition p2 )

inline

Get the xy distance from second point to this.

Parameters

p2	is the other point.

Returns: XY distance.

References UPos::x, x, UPos::y, and y.

double UPosition::dot ( UPosition p2 )

Calculate dot-product with this position (vector)

Parameters

v	is the other 3d vector (v.x, v.y, v.x)

Returns: (this * v) = (x*v.x + y*v.y + z*v.z)

References x, y, and z.

Referenced by UImg3Dpoints::getRansacPlane(), and URoad::setRoadQ().

double UPosition::get ( int idx )

inline

Get value from an index (0=x,1=y, 2=z, 3=1.0)

Parameters

idx	index to value

Returns: value x,y or z from index, if not in range, then 1.0 is returned

References UPos::x, and UPos::y.

Referenced by UPlane::getPlaneCrossing().

virtual const char* UPosition::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

Reimplemented in UPosRot.

Referenced by UFunctionVarPool::initCallReturnStructType().

UMatrix4 UPosition::getPixelPos	(	UMatrix4 *	A,
		UMatrix4 *	b
	)

Convert 3D position to pixel position using two conversion matrices. Normally A matrix translates and rotates to 3D image coordinates (4x4 matrix) and b converts to 2D image (top-left oriented coordinates. The result is a normalized vector [x (width), y (down), 1]

References asVector4(), and UMatrix::normalize().

UPosition* UPosition::getPos ( )

inline

Get pointer to this UPosition (e.g. from decendent classes).

Referenced by UPosRot::getPos(), and UPosRot::pos().

UPosition UPosition::getTangentPointXY	(	const UPosition	centre,
		const double	radius,
		const bool	rightSide,
		bool *	valid,
		double *	ang = `NULL`
	)

Return tangent point, where a line from this point touches a circle with centre in c and radius bc. if 'rightSide', then b is on the right side of the circle - seen from this point. If this point is inside circle, then 'valid' will be set false and the center point will be returned. The z value of the result will be the same as the centre. If 'ang' != NULL, then the coordinate system angle to the tangent point will be returned here.

References x, and y.

Referenced by UReactivePath::getTangentMidPose(), and testTangetPoint().

bool UPosition::load ( const char * valueString )

Load values from comma separated string values in e format. Returns true if all 3 values were read.

References x, y, and z.

int UPosition::LoadFromReg	(	Uconfig *	ini,
		const char *	subject,
		const char *	key
	)

Load position from 'ini' configuration file under this 'subject' and with this 'key'. Returns 0 if successful, else -1 and value set to (0,0,0)

References Uconfig::strGet(), x, y, and z.

Referenced by URotation::LoadFromReg().

UPosition UPosition::operator* ( const double scalar )

return a scaled (or multiplied) version of this position with 'val'.

References scaled().

void UPosition::operator*= ( const double scalar )

Scale this position

References scale().

UPosition UPosition::operator+ ( UPosition pos )

Return this position added with 'pos'

References added().

void UPosition::operator+= ( const UPosition pos )

Add 'pos' to this position

References add().

UPosition UPosition::operator- ( UPosition pos )

Return this position subtracted with 'pos'.

References subtracted().

void UPosition::operator-= ( const UPosition pos )

Subtract 'pos' from this position

References subtract().

UPosition UPosition::operator= ( UMatrix4 vec )

Assign position from vector

References copy().

UPosition UPosition::operator= ( const URotation rot )

Assign value from rotation

References copy().

UPosition UPosition::operator= ( const U2Dpos val )

Assign value from rotation

References U2Dpos::x, x, U2Dpos::y, y, and z.

UPosition UPosition::position	(	double	ix,
		double	iy,
		double	iz
	)

static

Create a position on the fly from values

Referenced by UProbPoly::paintRobot(), UImgPolyProj::paintRobot(), UImgProj::paintRobot(), UImgProj::paintRobotPath(), and UImgPolyProj::paintRobotPath().

void UPosition::print ( const char * leadString )

inline

Prints x, y and z values after the lead string

References dist, and UPos::show().

Referenced by UFuncBallKL::calculateBallPosition(), UFuncBall::calculateBallPosition(), UFuncBall_improved::calculateBallPosition(), UAvoidPath2::createPointList(), UFuncImgPoly::handleImgPolyCommand(), UFunctionCamPath::handlePathGetCommand(), UPolygon::print(), UProbPoly::print(), UOriPlane::print(), UPolygon::printSort(), testManDistance(), testManLineToSeg(), testManToSeg(), testTangetPoint(), and testUPosRot().

void UPosition::println ( const char * leadString )

Just print this position to console

References x, y, and z.

bool UPosition::save	(	FILE *	fmap,
		const char *	key
	)

Save position in html-like format. Returns true if saved.

References x, y, and z.

int UPosition::SaveToReg	(	Uconfig *	ini,
		const char *	subject,
		const char *	key
	)

Save this position to 'ini' configuration file under this 'subject' and with this 'key'. returns -1 if no space for data.

References doubleToKeyStr(), MaxCharPerLine, MaxKeyLength, Uconfig::strPut(), x, y, and z.

Referenced by URotation::SaveToReg().

void UPosition::scale ( const double val )

Scale thisposition with 'val'.

References x, y, and z.

Referenced by URotation::asMatrix4x4CtoW(), URotation::asMatrix4x4RtoM(), ULaserMeasurement::clear(), UPolygon::getCogXY(), UFakeMap::getFake2range(), ULaserScan::getLineSegmentFit(), operator*=(), and toUnitVector().

UPosition UPosition::scaled ( const double val )

return a scaled (or multiplied) version of this position with 'val', but leave this position unchanged.

References x, y, and z.

Referenced by UCamParEst::adjustParameters35(), ULaserObst::findEdgeObstacle(), ULaserScan::getLineSegmentFit(), and operator*().

void UPosition::set	(	const double	ix,
		const double	iy,
		const double	iz
	)

inline

Set position to (ix, iy, iz).

References UPos::x, and UPos::y.

Referenced by UImg3Dpoints::add(), ULineMatch::addToPoly(), UCamParEst::adjustParameters35(), UReactivePath::avoidObst(), ULaserMeasurement::clear(), UAvoidPath2::createCellBasedPointList(), UCalibrationMarkSets::doEstimateCameraParameters(), UCalibrationMarkSets::doEstimateCameraParametersBinary(), UCalibrationMarkSets::doEstimateCameraParametersCarpet(), UClientFuncLaserGui::doImage(), UImgPolyProj::doPolygonMap(), UImgProj::doPolygonMap(), UImgPolyProj::doProject(), UImgProj::doProject(), UImgPolyProj::doProjectPolygonToFloorReal(), UImgProj::doProjectPolygonToFloorReal(), UCalibrationMarkSet::evaluateChartPosRot(), UAvoidCellGraph::fillVerticeList(), UCalibrate::findBarcodeChartPosition(), UAvoidCellGraph::findCellPointPath(), UResRoadLine::findCurrentRoad(), UResRoadLine::findCurrentRoad2(), UResRoadDrive::findExitPose(), UCalibrate::findGmk(), UAvoidPath2::findObstAvoidRoute(), ULaserPi::get2DDistToCross(), UVariable::get3D(), UPolygon::getClosestDistance(), UPolygon::getDistance(), UFakeMap::getFake2range(), ULaserScan::getLineSegmentFit(), UManLine::getMinDistanceXYSigned(), UManArc::getMinDistanceXYSigned(), UPlane::getPlaneCrossing(), ULine::getXYCrossing(), UFuncLoca2::handleCommand(), UFuncLocalize::handleLocalize(), UNavView::paint(), UNavPaint::paintGmks(), UNavPaint::paintOdoGrid(), UClientFuncLaserGui::paintOdoGrid(), UNavView::paintOdoGrid(), UNavPaint::paintRobotGuidebot(), UNavPaint::paintRobotIrobot(), UResLocater::rowEndDetect(), UFuncKinect::run(), UPosRot::set(), UPosRot::setCtoR(), ULine::setFromPoints(), UPosRot::setFromPose(), UResPoseHist::setPoseResult(), ULaserPoint::setPosRA(), ULaserPoint::setPosXYZ(), UReactivePath::setRouteStats(), test3DtoPix(), testCylinderCrossing(), testImageHandling(), testImageLoadSave(), testLinePlane(), testLineSegment(), testManLineToSeg(), testManToSeg(), testMatrixVecBig(), testOriPlane(), testPlane(), testPolygonCog(), testSmlEncoding(), testUPosRot(), UAvoidParams::UAvoidParams(), UImgPolyProj::UImgPolyProj(), and UImgProj::UImgProj().

void UPosition::set	(	const int	idx,
		const double	value
	)

inline

Set position to of element idx to this value (idx: 0=x, 1=y, 2=z).

References UPos::x, and UPos::y.

void UPosition::setPos ( UPosition fromPos )

inline

Set position from another position

Referenced by UPosRot::set(), and UPosRot::setPos().

void UPosition::show ( const char * leadString )

Show position value on console

References x, y, and z.

Referenced by UImgPolyProj::doProject(), UImgProj::doProject(), ULine::show(), testCamPar(), testCylinderCrossing(), testLinePlane(), testLineSegment(), and testPoseCoordinateTransfer().

void UPosition::snprint	(	const char *	leadString,
		char *	s,
		const int	bufferLength
	)

virtual

As above function, but with limit on buffer length.

Reimplemented from UDataBase.

References x, y, and z.

Referenced by UCamPush::print(), UClientCamData::snprint(), and UPolygon::snprint().

void UPosition::sprint	(	char *	s,
		const char *	leadString
	)

Print this position to a string with this 'leadString'

References x, y, and z.

Referenced by UCalibrationMarkSet::evaluateChartPosRot(), and UCalibrationMarkSet::evaluatePosRot().

void UPosition::subtract ( const UPosition * pos )

Subtract 'pos' from this position.

References x, y, and z.

Referenced by UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), and operator-=().

UPosition UPosition::subtracted ( UPosition * pos )

Return this position subtracted with 'pos', but leave this position unchanged.

References x, y, and z.

Referenced by operator-().

UPosition UPosition::subtracted ( UPosition pos )

Return this position subtracted with 'pos', but leave this position unchanged.

References x, y, and z.

int UPosition::toUnitVector ( )

Scales the position (assumed to be a vector to a unit vector. i.e. (x^2 + y^2 + z^2) = 1. Returns -1 if zero vector.

References dist(), and scale().

Referenced by UPlane::set(), ULine::set(), ULine::setFromPoints(), URotation::setFromYZ(), and ULine::ULine().

void UPosition::transfer ( UMatrix4 * mA )

Transfers this position to new position acording to mA (4x4)

References asVector4(), and copy().

Referenced by UImage::lineInGrid(), UNavPaint::paintCams(), and UNavPaint::paintGmks().

UPosition UPosition::transferred ( UMatrix4 * mA )

Returns a transferred position of this position, but do not change this position.

References asVector4(), and copy().

Referenced by UMatrix4::operator*(), and UOriPlane::set().

Member Data Documentation

double UPosition::x

Referenced by add(), UResPcp::add(), UPaintBase::addBox(), added(), UResObj3d::addGroundObjects(), UAvoidPath2::addNoVisLinesAsObstacles(), UObstacleGroupLaser::addObst(), UObstacleGroupLaser::addObstPoly(), UPaintPolygon::addPolyToViewer(), UGridBBox::addPosToProfile(), UGridBBox::addPosToSideView(), UAvoidObst::addtangentLines(), ULineMatch::addToPoly(), asMatrix4x4(), asVector3(), asVector4(), UAvoidPath2::avoidToTheLeft(), UFuncBallKL::calculateBallPosition(), UFuncBall::calculateBallPosition(), UFuncBall_improved::calculateBallPosition(), ULaserMeasurement::clear(), clientCmdLine(), UPcpItem::codeXML(), codeXml(), UResAvoid::codeXmlRobotFront(), UResPassable::combineNearIntervals(), UAvoidPath2::convertToManSeq(), copy(), UPolygon::copy(), URotation::copy(), UFakeMap::copyToPoly(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), cross(), UAvoidObst::crossingNonVisibilityLine(), UPolygon::cut(), UPolygon::cutPoints(), UCamPool::decodeReplayLine(), Funcavoid::direkte(), U2Dpos::dist(), UPlane::distSigned(), distSq(), distXY(), UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), UResObj3d::do3dVoxels(), UNamedBox::doDetect(), UResObj3d::doGndPlaneMask(), UClientFuncLaserGui::doImage(), UImgPolyProj::doProject(), UImgProj::doProject(), UImgProj::doProjectPolygonToMapPix(), UImgPolyProj::doProjectPolygonToMapPix(), UClientFuncLaserGui::doRepaint(), dot(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), UAvoidPath2::expandPolyToSegment(), UAvoidVertexIdx::extent4thPnt(), UPolygon::extractConvexTo(), UAvoidCellGraph::fillVerticeList(), UCalibrate::findCameraPosition(), ULaserObst::findEdgeObstacle(), UResRoadDrive::findExitPose(), UResObj3d::findPolygonsOnEdge(), UAvoidPath2::findRoutes(), UAvoidPath2::findRouteToDest(), UFuncStraightLine::findWoldPoints(), ULaserPi::get2DDistToCross(), ULaserPi::get2DLine(), UGrid3D::getCellCenter(), UGrid3D::getCellFTL(), UGrid3D::getCellNBR(), UPolygon::getClosestDistance(), UAvoidPath2::getClosestObst2(), UAvoidObst::getClosestPoint(), UPolygon::getCloseVertexCnt(), UPolygon::getCogXY(), UProbPoly::getCrossingsAtX(), UProbPoly::getCrossingsAtY(), UCamPar::getCtoPRob(), ULine::getCylinderCrossings(), UAvoidParams::getDiagonal(), UPose::getDistance(), UAvoidLnkSeq::getDistance(), UPolygon::getDistance(), ULine::getDistanceSq(), UManLine::getDistanceXYSigned(), UManArc::getDistanceXYSigned(), UManSeq::getDistanceXYSigned(), ULineSegment::getDistanceXYSigned(), UAvoidParams::getDistToCorner(), UManPPSeq::getEndDistTo(), UCalibrationMarkSet::geterrorInPixels(), UFakeMap::getFake2range(), UManArc::getFoodprintPolygon(), UPolygon::getLimits(), UPlane::getLineCrossing(), ULaserScan::getLineSegmentFit(), UPolygon::getLowerLeftXY(), UPose::getMapToPose(), UPose::getMapToPosePose(), UReactivePath::getMidPoseHere(), UManLine::getMinDistanceXYSigned(), UManArc::getMinDistanceXYSigned(), UManSeq::getMinDistanceXYSigned(), UPolygon::getMostDistantVertexXY(), UPolygon::getMostDistantXY(), UReactivePath::getNearObstacle(), UAvoidNoVis::getNoVisSegment(), UAvoidVertexIdx::getPktType1(), UAvoidVertexIdx::getPktType2(), UPlane::getPlaneCrossing(), ULine::getPlaneLineCrossing(), UPcpItem::getPoint(), UCamMounted::getPosCC(), UPose::getPoseToMap(), UClientLaserData::getPosition(), ULaserData::getPosition(), USmlTag::getPosition(), ULine::getPositionOnLine(), ULine::getPositionOnLineXY(), UCamPar::getPtoCRob(), UImg3Dpoints::getRansacPlane(), UAvoidParams::getSafeDistance(), ULine::getSphereCrossings(), UManPPSeq::getStartDistTo(), UReactivePath::getTangentMidPose(), getTangentPointXY(), UAvoidObst::getTangentVertexFrom(), UManArc::getTurnCentre(), UAvoidVertexIdx::getUpper(), UAvoidParams::getWallWallRadius(), UPosRot::getX(), UPolygon::getXYarea(), ULine::getXYCrossing(), ULine::getXYHeading(), ULine::getXYsignedDistance(), UAvoidPath2::groupObstacles(), UFuncLocalize::handleAddLine(), UFuncLoca2::handleAddLine(), UClientCamData::handleCamGet(), UFuncBallKL::handleCommand(), UFuncObj3d::handleCommand(), UFunctionCamGmk::handleGmkGetCommand(), UFuncImgPoly::handleImgPolyCommand(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UResPcp::handleNewData(), UFunctionPassable::handleObstGet(), UFunctionCamPath::handlePathGetCommand(), UClientFuncPath::handlePathPolygonData(), UFunctionLaser::handleSetCommand(), UClientFuncLaser::handleWpc(), UFuncLinefinder::houghTest(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::invalidateEmbeddedVertices(), UAvoidPath2::invalidateObstaclesAtStartAndExit(), UAvoidPath2::isAfterDestination(), UAvoidPath2::isCrossingManPoly(), UPolygon::isEmbedded(), UAvoidPath2::isInClosedSet(), UPolygon::isInsideConvex(), UAvoidPath2::isInsidePoly(), UPolygon::isOverlappingXYconvex(), UPolygon::isOverlappingXYconvex2(), UPolygon::isOverlappingXYconvexSeg(), UPolygon::isOverlappingXYtype(), Funcavoid::korrigerHuller(), UImage::lineInGrid(), UResLaserIfObst::listGroup(), load(), LoadFromReg(), UResLocater::locate(), UGrid3D::logBB(), UImageLog::logImage(), UObstacle::logObst(), UAvoidPath2::logObstacleGroups(), UAvoidPath2::logPathSequences(), UPaintBase::makeCircleCloud(), UFuncBall::makeDisplayPolygon(), UFuncImSeg::makeDisplayPolygon(), UResLobst::makeObst(), UResPassable::makePassableIntervals2(), UImg3Dpoints::makePCLFile(), UPaintPolygon::makePolyCloud(), UProbGrid::makeProbGrid(), UPaintLaserScan::makeScanCloud(), UObstacle::mergeableOnCogLimits(), UResPcp::methodCallV(), UResPoly::methodCallV(), UNavView::moveViewPose(), U2Dpos::operator=(), operator=(), UComCamSml::pack(), UNavView::paint(), UNavPaint::paintCams(), UCalibrationComponents::PaintChartInImage(), UNavPaint::paintFeatures(), UNavView::paintFeatures(), UNavPaint::paintFreePoly(), UClientFuncLaserGui::paintFreePoly(), UNavView::paintFreePoly(), UNavPaint::paintGmks(), UResObj3d::paintGndPlane(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UClientFuncLaserGui::paintLineSegments(), UNavPaint::paintManData(), UNavPaint::paintObstGrp(), UClientFuncLaserGui::paintObstGrp(), UNavView::paintObstGrp(), UClientFuncLaserGui::paintOdoData(), UNavPaint::paintOdoGrid(), UClientFuncLaserGui::paintOdoGrid(), UNavView::paintOdoGrid(), UClientFuncLaserGui::paintPathData(), UNavPaint::paintPis(), UClientFuncLaserGui::paintPis(), UNavView::paintPis(), UNavPaint::paintPoseHistLine(), UClientFuncLaserGui::paintPostHistLine(), UClientFuncLaserGui::paintRangeRings(), UNavPaint::paintRoadLine(), UProbPoly::paintRobot(), UImgPolyProj::paintRobot(), UImgProj::paintRobot(), UImgPolyProj::paintRobotPath(), UImgProj::paintRobotPath(), UNavPaint::paintScanNewest(), UNavPaint::paintScanStatData(), UClientFuncLaserGui::paintScanStatData(), UGrid3D::paintVoxels(), UClientFuncLaserGui::paintWpListData(), UAvoidObst::passingNoGoEdge2(), UObstaclePool::pointsToPolygon(), UObstacle::print(), UPosRot::print(), ULaserPi::print(), UObstInfo::print(), ULineMatch::print(), println(), UAvoidCellGraph::printObstacleList(), UAvoidPoint::printPoses(), UFuncLocalize::projectToLaser(), UFuncLoca2::projectToLaser(), UAvoidPath2::removeEqualXvertices(), UPolygon::removeNearVertex(), UFuncPpl::robotToOdoCooTransf(), UFuncImu::run(), UFuncView::run(), UFuncKinect::run(), save(), SaveToReg(), scale(), scaled(), UFunctionAvoid::sendCurrentAvoidPath(), UFunctionPassable::sendFullScan(), USmlTag::sendProbPoly(), UPlane::set(), UPose::set(), ULine::set2D(), UVariable::set3D(), UVariable::set6D(), UAvoidPoint::setAngNext(), UAvoidLink::setBadEdgeAndVertex(), UCalibrationMarkSet::setBarcodePosRowSet(), UNamedBox::setBox(), UComCamSml::setCamDevice(), UCalibrationMarkSet::setCameraPosRowSet(), UImgPolyProj::setCamPos(), UImgProj::setCamPos(), UAvoidPath2::setClosestPoint(), UNamedBox::setCornersAsPolygon(), UCamParEst::setEstMatrix(), UCamParEst::setEstMatrix35(), ULine::setFromPoints(), ULineSegment::setFromPoints(), U2Dseg::setFromPoints(), URotation::setFromYZ(), URoadLine::setNew(), UAvoidNoVis::setNoVisSegment(), UCamMounted::setPosOnRobotCC(), UAvoidPath2::setPreStopPoint(), UReactivePath::setRouteStats(), UAvoidPath2::setTurnCentre(), ULaserScan::setVariance(), UGrid3D::setVoxel(), show(), UResCamIfGmk::snprint(), UPolygon::snprint(), ULine::snprint(), snprint(), UPolygon::sortByAngleXYTo(), UPolygon40::sortByAngleXYTo(), UPolygon400::sortByAngleXYTo(), UAvoidPath2::splitObstGroup(), sprint(), subtract(), subtracted(), UAvoidPath2::terminateWorseCandidatesInOpenSet(), test3DtoPix(), testCamPar(), UReactivePath::testForObstacleNearExit(), UAvoidPath2::testNoVisSegVisibility(), testPlane(), testPolyDistance(), testPolygonCog(), UNavPaint::toPixels(), UFuncStraightLine::toRobot(), UFuncStraightLine::toWorld(), UAvoidPoint::tPointVisible(), ULine::turn90degXY(), UAvoidPath2::turnCentreCrossing(), ULine::ULine(), UV360Scan::update(), URoadLine::update(), UResV360::update(), UResRoadLine::updateRoadVariables(), UPose::UPose(), UAvoidPath2::validNewClosePoint(), UAvoidLink::visibilityTest(), and UAvoidParams::withinRobotOutline().

double UPosition::y

double UPosition::z

Referenced by add(), UResPcp::add(), UPaintBase::addBox(), UPaintBase::addCircleCloud(), added(), UResObj3d::addGroundObjects(), UPaintPolygon::addPolyToViewer(), UGridBBox::addPosToProfile(), UGridBBox::addPosToSideView(), asMatrix4x4(), asVector3(), asVector4(), UFuncBallKL::calculateBallPosition(), UFuncBall::calculateBallPosition(), UFuncBall_improved::calculateBallPosition(), clientCmdLine(), UPcpItem::codeXML(), codeXml(), copy(), URotation::copy(), cross(), UPolygon::cut(), UPolygon::cutPoints(), UCamPool::decodeReplayLine(), UPlane::distSigned(), distSq(), UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), UClientFuncLaserGui::doImage(), dot(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), UCalibrate::findCameraPosition(), UFuncCropRow::findPlants(), UResObj3d::findPolygonsOnEdge(), UFuncStraightLine::findWoldPoints(), UGrid3D::getCellCenter(), UGrid3D::getCellFTL(), UGrid3D::getCellNBR(), UCamPar::getCtoPRob(), UPolygon::getDistance(), ULine::getDistanceSq(), UManLine::getDistanceXYSigned(), ULineSegment::getDistanceXYSigned(), UCalibrationMarkSet::geterrorInPixels(), UPlane::getLineCrossing(), UPose::getMapToPose(), UManPPSeq::getMinDistanceXYSigned(), UAvoidNoVis::getNoVisSegment(), UImgPolyProj::getPixToRobFloor(), UImgProj::getPixToRobFloor(), UPlane::getPlaneCrossing(), ULine::getPlaneLineCrossing(), UPcpItem::getPoint(), UCamMounted::getPosCC(), UPose::getPoseToMap(), UClientLaserData::getPosition(), ULaserData::getPosition(), USmlTag::getPosition(), ULine::getPositionOnLine(), ULine::getPositionOnLineXY(), UCamPar::getPtoCRob(), ULine::getSphereCrossings(), UAvoidLink::getTangentLine(), UPosRot::getZ(), UResCamIfCam::gotNewData(), UClientCamData::handleCamGet(), UFuncBallKL::handleCommand(), UFuncObj3d::handleCommand(), UFuncCropRow::handleCommand(), UFuncPpl::handleCommand(), UFunctionCamGmk::handleGmkGetCommand(), UFuncImgPoly::handleImgPolyCommand(), UResPcp::handleNewData(), UFunctionCamPath::handlePathGetCommand(), UClientFuncPath::handlePathPolygonData(), UFunctionLaser::handleSetCommand(), UGroundPatches::heightAnalysis(), UImage::lineInGrid(), load(), LoadFromReg(), UGrid3D::logBB(), UImageLog::logImage(), UPaintBase::makeCircleCloud(), UFuncBall::makeDisplayPolygon(), UFuncImSeg::makeDisplayPolygon(), UResPassable::makePassableIntervals2(), UImg3Dpoints::makePCLFile(), UPaintPolygon::makePolyCloud(), UPaintLaserScan::makeScanCloud(), UResPcp::methodCallV(), UResPoly::methodCallV(), UNavView::moveViewPose(), operator=(), UComCamSml::pack(), UNavView::paint(), UCalibrationComponents::PaintChartInImage(), UNavView::paintFeatures(), UNavView::paintFreePoly(), UResObj3d::paintGndPlane(), UNavView::paintObstGrp(), UClientFuncLaserGui::paintPathData(), UNavView::paintPis(), UGrid3D::paintVoxels(), UPosRot::print(), println(), UFuncImu::run(), UFuncView::run(), UFuncKinect::run(), save(), SaveToReg(), scale(), scaled(), UPlane::set(), ULine::set2D(), UVariable::set3D(), UVariable::set6D(), UCalibrationMarkSet::setBarcodePosRowSet(), UComCamSml::setCamDevice(), UCalibrationMarkSet::setCameraPosRowSet(), UImgPolyProj::setCamPos(), UImgProj::setCamPos(), UCamParEst::setEstMatrix(), UCamParEst::setEstMatrix35(), ULine::setFromPoints(), ULineSegment::setFromPoints(), URotation::setFromYZ(), ULaserPi::setInterval(), UCamMounted::setPosOnRobotCC(), show(), ULine::snprint(), snprint(), sprint(), subtract(), subtracted(), test3DtoPix(), UAvoidPath2::testNoVisSegVisibility(), testPlane(), and ULine::ULine().

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

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation