UMapRel Class Reference

#include <umaprel.h>

Public Member Functions
UMapRel *	get ()
UMapObj *	getOther (UMapObj *notThis)
UMapSegment *	getParent ()
UPoseQ *	getRelPose (bool notNull)
bool	load (Uxml3D *fxmap)
bool	save (Uxml3D *fxmap)
bool	setLinks (UMapObj *ref1, UMapObj *ref2)
void	setParent (UMapSegment *parentSegment)
	UMapRel (UMapSegment *parentSegment)
void	unlink ()
	~UMapRel ()

Protected Attributes
bool	headingValid
UMapObj *	obj1
UMapObj *	obj2
UMapSegment *	parent
UPoseQ *	relPose

Detailed Description

This class holds information on relations between two map objects. The relation is 2d positional and may contain the same information as a pose, i.e. x,y, heading, and covariance matrix related to this relation. The heading constraint will normally be unknown.

Author

Christian Andersen

Constructor & Destructor Documentation

UMapRel::UMapRel

(

UMapSegment *

parentSegment

)

Default constructor

UMapRel::~UMapRel

(

)

destructor. Decouples the object from related objects.

Member Function Documentation

UMapRel* UMapRel::get ( )

inline

REturn pointer to this object

References load(), save(), and unlink().

UMapObj* UMapRel::getOther

(

UMapObj *

notThis

)

Get pointer to other object. That is the object that is different from this. Returns pointer to other object.

Referenced by getRelPose().

UMapSegment* UMapRel::getParent ( )

inline

Get parent segment

References parent.

UPoseQ* UMapRel::getRelPose ( bool  notNull )

inline

Get reference (pointer) to relative pose structure

References getOther(), relPose, and setLinks().

bool UMapRel::load

(

Uxml3D *

fxmap

)

Load relation in xml-like format

Referenced by get().

bool UMapRel::save

(

Uxml3D *

fxmap

)

Save relation in xml-like format

Referenced by get().

bool UMapRel::setLinks	(	UMapObj *	ref1,
		UMapObj *	ref2
	)

Set links to these two objects. If the relation is linked already - i.e. obj1 and/or obj2 is not NULL - then these relation are broken first. Returns true if references are both != NULL.

Referenced by getRelPose().

void UMapRel::setParent ( UMapSegment *  parentSegment )

inline

Set parent segment

References parent.

void UMapRel::unlink

(

)

Remove this object from the constraint list of both related objects.

Referenced by get().

Member Data Documentation

bool UMapRel::headingValid

protected

Is heading constraint valid?

UMapObj* UMapRel::obj1

protected

Reference to object 1. This reference is NULL if no object is defined.

UMapObj* UMapRel::obj2

protected

Reference to object 2. This reference is NULL if no object is defined.

UMapSegment* UMapRel::parent

protected

Parent segment pointer

Referenced by getParent(), and setParent().

UPoseQ* UMapRel::relPose

protected

Relation in position, using x,y,h defined by segment (local) coordinate system. Position is from first object to second object. i.e. according to this relation the position of object 2 should be at object 1 position plus this relation. The covariance (or spring stiffness) is defined by the Q matrix.

Referenced by getRelPose().

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

• umaprel.h