#include <ufuncpplfinder.h>

Inheritance diagram for UFuncPpl:

Public Member Functions
bool	calculateVars ()

bool	compareResultLegs (std::vector< Leg > prev, std::vector< Leg > curr)

bool	createPolygon (Leg leg, UPolygon poly)

bool	drawPolygons (int polygons, int option, std::vector< Leg > *legs)

virtual bool	handleCommand (UServerInMsg msg, void extra)

bool	methodCall (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)

bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	robotToOdoCooTransf (std::vector< std::vector< UPosition > > points, UResPoseHist odoPose, UPosition *offset)

	UFuncPpl ()

bool	updateVars ()

Public Member Functions inherited from UFuncLaserBase
	UFuncLaserBase ()

virtual	~UFuncLaserBase ()

Public Member Functions inherited from UFuncPlugBase
	UFuncPlugBase ()

virtual	~UFuncPlugBase ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

virtual void	createResources ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Private Attributes
double	bestLegID

int	certainty_max

double	closestLegDist

double	closestLegID

double	closestLegPos [2]

std::vector< Leg >	currLegsInView

int	ID

std::vector< UDataDouble >	legInfo

double	legsInView

double	max_dist

UResPoseHist *	odoPose

double	pplInView

std::vector< Leg >	prevLegsInView

UVariable *	varBestLegID

UVariable *	varCertaintyMax

UVariable *	varClosestLegDist

UVariable *	varClosestLegID

UVariable *	varClosestLegPos

UVariable *	varLegsInView

UVariable *	varMaxDist

UVariable *	varPplInView

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFuncLaserBase
ULaserDevice *	getDevice (UServerInMsg msg, ULaserData pushData)

ULaserData *	getScan (UServerInMsg msg, ULaserData pushData, bool any=false, ULaserDevice **dev=NULL)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes inherited from UFuncLaserBase
ULaserData	dataBuff

int	lastDevice

unsigned long	lastSerial

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Laserscanner function to demonstrate simple laser scanner data handling and analysis

Author: Christian Andersen

Constructor & Destructor Documentation

UFuncPpl::UFuncPpl ( )

inline

Member Function Documentation

bool UFuncPpl::calculateVars ( )

References anyCooPhytagoras(), bestLegID, closestLegDist, closestLegID, currLegsInView, UResPoseHist::getNewest(), legsInView, odoPose, UPose::x, and UPose::y.

Referenced by compareResultLegs(), and UFuncPpl().

bool UFuncPpl::compareResultLegs	(	std::vector< Leg > *	prev,
		std::vector< Leg > *	curr
	)

References anyCooPhytagoras(), calculateVars(), certainty_max, max_dist, and updateVars().

Referenced by handleCommand(), and UFuncPpl().

bool UFuncPpl::createPolygon	(	Leg *	leg,
		UPolygon *	poly
	)

References UPolygon::add(), UPolygon::clear(), UPolygon::color, Leg::getColorChar(), Leg::getXmean(), and Leg::getYmean().

Referenced by drawPolygons(), and UFuncPpl().

bool UFuncPpl::drawPolygons	(	int	polygons,
		int	option,
		std::vector< Leg > *	legs
	)

References UPolygon::add(), UResVarPool::callGlobalV(), UPolygon::clear(), UPolygon::color, createPolygon(), UVariable::getBool(), UFunctionBase::getStaticResource(), UVariable::setDouble(), and UVariable::setValues().

Referenced by handleCommand(), and UFuncPpl().

bool UFuncPpl::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

Handle incomming command (intended for command separation) Must return true if the function is handled - otherwise the client will get a failed - reply

Reimplemented from UFunctionBase.

References bestLegID, UResVarPool::callGlobalV(), certainty_max, closestLegID, compareResultLegs(), currLegsInView, data, drawPolygons(), USmlTagIn::getAttDouble(), USmlTagIn::getAttValue(), UTime::GetDecSec(), ULaserPool::getDefDevice(), ULaserDevice::getDevicePos(), UVariable::getDouble(), UVariable::getInt(), UResPoseHist::getNewest(), UFuncLaserBase::getScan(), ULaserData::getScanTime(), ULaserData::getSerial(), UFunctionBase::getStaticResource(), handlePeopleDetection(), ID, ULaserData::isValid(), max_dist, odoPose, prevLegsInView, robotToOdoCooTransf(), UFunctionBase::sendDebug(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UVariable::setValued(), UServerInMsg::tag, UResBase::time, varCertaintyMax, varMaxDist, and UPosition::z.

Referenced by UFuncPpl().

bool UFuncPpl::methodCall	(	const char *	name,
		const char *	paramOrder,
		UVariable **	params,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

References UResVarPool::callGlobalV(), currLegsInView, legInfo, and UVariable::setValued().

Referenced by UFuncPpl().

bool UFuncPpl::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	doubles,
		double *	value,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement a var-pool method call. The function with 'name' and pameters in the order 'paramOrder' is to be called. The actual parameters are in 'strings' and 'doubles'. A double sized result may be returned in 'value'. May return struct values in the 'returnStruct' pointer list (when the pointer list is not NULL), and in this case the 'returnStructCnt' is set to the maximum number of pointers available and should be modified to the number of valid pointers returned. Should return true if function was handled (otherwise an invalid function specification is assumed).

Reimplemented from UResVarPool.

References UResVarPool::callGlobalV(), currLegsInView, legInfo, and UVariable::setValued().