#include <ulaserdata.h>

Public Member Functions
bool	copyToPoly ()
	set original map as polygons More...

UPoseTVQ	fakeAdvancePose (double dt)

double	getFake2range (double angle, double maxR, double minR)

void	reset ()
	reset to initial position More...

	UFakeMap ()

Public Attributes
UPose	currentLaserPose
	current pose of the laser scanner (updated with currentTruePose) More...

UPoseTVQ	currentOdoPose
	pose with offset and error More...

UPoseTVQ	currentTruePose
	current robot pose (and sensor pose) More...

UPosRot	devicePose
	pose of laser device relative to currentTruePose More...

double	distError
	distance error per meter moved More...

double	distOffset
	distance offset per meter moved; More...

ULineSegment	fakeMap [FMMC]
	fake map More...

int	fakeMapCnt
	fake map number of lines More...

UPose	fakeTargetPose [FMPC]
	fake path poses More...

int	fakeTargetPoseCnt
	fake waypoint count More...

int	fakeWallOnlyCnt
	count of line part of fake scan More...

double	headError
	heading error per meter moved More...

double	headOffset
	heading offset per meter moved More...

bool	keepODOpose
	update odoPose with noisy pose More...

bool	keepUTMpose
	update UTM pose with true pose More...

UPolygon **	polyMap
	polygon description of map; More...

int	polyMapCnt
	number of valid polygons More...

double	rangeError
	distance error for laser scanner range (in m) More...

UResPoseHist *	resOdo
	pointer to odo pose history More...

UResPoseHist *	resUTM
	pointer to odo pose history More...

int	state
	current start in fake path More...

UResVarPool *	varPool
	global variable entry resource More...

Static Public Attributes
static const int	FMMC = 40
	fake map max count More...

static const int	FMPC = 9
	fake path waypoint max count More...

Private Member Functions
double	fakeAdvanceControl (UPoseTVQ *currentPose, UPose targetPose, double dt)

double	getPink (double width, int times)

void	initFakeMap ()

Detailed Description

Class with fixed fake map used by fake laser scanner device

Constructor & Destructor Documentation

UFakeMap::UFakeMap ( )

Referenced by ULaserMeasurement::clear().

Member Function Documentation

bool UFakeMap::copyToPoly ( )

set original map as polygons

References UPolygon::add(), UPolygon::clear(), UPosition::distSq(), fakeMap, ULineSegment::getOtherEnd(), UPolygon::getPointsCnt(), ULine::pos, UPolygon::setAsPolyline(), UPolygon::setColor(), UPolygon::setSize(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by ULaserMeasurement::clear(), and UFakeDevice::getNewestData().

double UFakeMap::fakeAdvanceControl	(	UPoseTVQ *	currentPose,
		UPose	targetPose,
		double	dt
	)

private

Advance robot position towards target pose in total 'dt' seconds. Returns the distance to the the target position.

References a, UPose::add(), UPose::h, limitToPi(), UPoseTime::t, UPoseTVQ::vel, UPose::x, and UPose::y.

Referenced by ULaserMeasurement::clear().

UPoseTVQ UFakeMap::fakeAdvancePose ( double dt )

Advance a fake robot position (fake=2 or 3) a delta time of 'dt' in seconds. The state and startPose should be saved between calls. Returns the new pose after the advance (and this should be used as the new start pose at the next call.

References dist, UPose::getDistance(), UPose::h, limitToPi(), UPoseTVQ::q, and UPoseTime::t.

Referenced by ULaserMeasurement::clear(), and ULaserDevice::getFakeScan().