ULaserPathResult Class Reference

#include <ulaserdataset.h>

Public Member Functions
ULineSegment *	getEdgeLeft ()
bool	getEdgeLeftValid ()
ULineSegment *	getEdgeRight ()
bool	getEdgeRightValid ()
ULineSegment *	getEdgeTop ()
bool	getEdgeTopValid ()
UManSeq *	getManSeq ()
ULineSegment *	getPassLine (int index)
int	getPassLinesCnt ()
UPosition *	getRoute (int index)
int	getRouteCnt ()
bool	isPassingAWall ()
bool	isPathCrashed ()
bool	isPathUsed ()
bool	setFromTag (USmlTag *tag)
	ULaserPathResult ()
	~ULaserPathResult ()

Private Attributes
ULineSegment	edgeLeft
bool	edgeLeftValid
ULineSegment	edgeRight
bool	edgeRightValid
ULineSegment	edgeTop
bool	edgeTopValid
bool	isACrash
bool	isAWall
UManSeq *	man
ULineSegment	passLines [MAX_PASSABLE_LINE_SEGMENTS]
int	passLinesCnt
bool	pathUsed
UPosition	route [MAX_PASSABLE_LINE_SEGMENTS]
int	routeCnt

Detailed Description

Class to hold result of laser scanner path evaluation. All data is in (odometer) map coordinates

Constructor & Destructor Documentation

ULaserPathResult::ULaserPathResult

(

)

Constructor

ULaserPathResult::~ULaserPathResult

(

)

Destructor

Member Function Documentation

ULineSegment* ULaserPathResult::getEdgeLeft ( )

inline

Get pointer to edge

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::getEdgeLeftValid ( )

inline

Get validity of edge

Referenced by UClientFuncLaserGui::paintPathData().

ULineSegment* ULaserPathResult::getEdgeRight ( )

inline

Get pointer to edge

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::getEdgeRightValid ( )

inline

Get validity of edge

Referenced by UClientFuncLaserGui::paintPathData().

ULineSegment* ULaserPathResult::getEdgeTop ( )

inline

Get pointer to edge

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::getEdgeTopValid ( )

inline

Get validity of edge

Referenced by UClientFuncLaserGui::paintPathData().

UManSeq* ULaserPathResult::getManSeq ( )

inline

Get manoeuvre sequence

Referenced by UClientFuncLaser::handlePath(), and UClientFuncLaserGui::paintPathData().

ULineSegment* ULaserPathResult::getPassLine ( int  index )

inline

Get passable line with this index. Returns pointer to passable line segment.

Referenced by UClientFuncLaserGui::doImage(), and UClientFuncLaserGui::paintPathData().

int ULaserPathResult::getPassLinesCnt ( )

inline

Get number of passable lines in path

Referenced by UClientFuncLaserGui::doImage(), and UClientFuncLaserGui::paintPathData().

UPosition* ULaserPathResult::getRoute ( int  index )

inline

Get obstacle avoidance route value

References route.

Referenced by UClientFuncLaserGui::paintPathData().

int ULaserPathResult::getRouteCnt ( )

inline

get count of route points

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::isPassingAWall ( )

inline

Is route passing a wall

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::isPathCrashed ( )

inline

Is this route terminated in a crash

References ULaserData::setFromTag().

Referenced by UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::isPathUsed ( )

inline

Is this route actually used for control

Referenced by UClientFuncLaserGui::doImage(), and UClientFuncLaserGui::paintPathData().

bool ULaserPathResult::setFromTag

(

USmlTag *

tag

)

Decode a full path starting with the provided tag, and the rest taken from the provided connection

References USmlTag::getLineSegment(), USmlTag::getManSeq(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTag::getPose(), USmlTag::getPosition(), USmlTagIn::getTagName(), UPose::h, USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_PASSABLE_LINE_SEGMENTS, MAX_SML_NAME_LENGTH, USmlTagIn::reset(), route, str2bool(), UPose::x, and UPose::y.

Referenced by UClientFuncLaser::handlePath().

Member Data Documentation

ULineSegment ULaserPathResult::edgeLeft

private

Edge of path

bool ULaserPathResult::edgeLeftValid

private

Is edge valid

ULineSegment ULaserPathResult::edgeRight

private

Left of path

bool ULaserPathResult::edgeRightValid

private

Is edge valid

ULineSegment ULaserPathResult::edgeTop

private

Left of path

bool ULaserPathResult::edgeTopValid

private

Is edge valid

bool ULaserPathResult::isACrash

private

A debug flag to assist analysis of crash paths

bool ULaserPathResult::isAWall

private

Is path passing a wall, i.e. at least 2 measurements where reply is stationary, while robot moves

UManSeq* ULaserPathResult::man

private

Most recent received manoeuvre list

ULineSegment ULaserPathResult::passLines[MAX_PASSABLE_LINE_SEGMENTS]

private

Passable line segments

int ULaserPathResult::passLinesCnt

private

Count of valid passable line segments

bool ULaserPathResult::pathUsed

private

This is the used path

UPosition ULaserPathResult::route[MAX_PASSABLE_LINE_SEGMENTS]

private

Detected passable route

int ULaserPathResult::routeCnt

private

Valid route points

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

• src/uclient/ulaserdataset.h
• src/uclient/ulaserdataset.cpp