USFPool Class Reference

#include <usfpool.h>

Inheritance diagram for USFPool:

Public Member Functions
bool	addData (USFData *data)
void	clear ()
USFData *	getScan (int age)
int	getScansCnt ()
int	getScansMax ()
UPosRot	getSensorPose ()
void	markAsNotNew (const char *dataType)
void	setSensorPose (UPosRot value)
	USFPool ()
	~USFPool ()
Public Member Functions inherited from UOnEvent
bool	addEventHandler (UCallBack *object, Method methodToCall)
bool	event (const char *interface, const char *dataType, void *dataPtr)
	UOnEvent ()
	~UOnEvent ()

Protected Attributes
UPosRot	defaultSensorPose
int	newest
USFData	scans [MAX_SEGMENT_SCANS]
int	scansCnt
Protected Attributes inherited from UOnEvent
Method	method [MAX_CALL_BACKS]
UCallBack *	obj [MAX_CALL_BACKS]
int	objCnt

Static Protected Attributes
static const int	MAX_SEGMENT_SCANS = 400
Static Protected Attributes inherited from UOnEvent
static const int	MAX_CALL_BACKS = 20

Additional Inherited Members
Public Types inherited from UOnEvent
typedef bool(UCallBack::*	Method) (const char *interface, const char *dataType, void *data)

Detailed Description

Holds history of scanfeatures

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

USFPool::USFPool

(

)

Constructor

USFPool::~USFPool

(

)

Destructor

Member Function Documentation

bool USFPool::addData

(

USFData *

data

)

Add a new set of data to the pool

References USFData::addSegment(), USFData::clear(), USFData::getTypeMax(), USFData::isNewest, ULock::lock(), maxi(), USFData::pose, USFData::scanTime, USFData::segInteger, USFData::segs, USFData::segsCnt, USFData::segStr, USFData::type, ULock::unlock(), and USFData::valid.

Referenced by UClientFuncSF::handlePass(), UClientFuncSF::handleRoad(), and UClientFuncSF::handleSF().

void USFPool::clear

(

void

)

Remove all data

References USFData::clear().

Referenced by UClientFuncLaserGui::clear().

USFData * USFPool::getScan

(

int

age

)

Get pointer to scan

Referenced by UClientFuncLaserGui::onEvent(), UClientFuncLaserGui::paintLineSegments(), and UClientFuncLaserGui::saveImage().

int USFPool::getScansCnt ( )

inline

Get max number of scans in pool

Referenced by UClientFuncLaserGui::paintLineSegments().

int USFPool::getScansMax ( )

inline

Get max number of scans in pool

UPosRot USFPool::getSensorPose ( )

inline

Get the default sensor pose - used to convert sensor positions to robot coordinates

Referenced by UClientFuncSF::handlePass(), and UClientFuncSF::handleSF().

void USFPool::markAsNotNew

(

const char *

dataType

)

Mark all entries of this type as not new, until an enty is found that is not new already.

References USFData::isA(), and USFData::isNewest.

void USFPool::setSensorPose ( UPosRot  value )

inline

Set default sensor pose - used to convert sensor positions to robot coordinates

Referenced by UClientFuncSF::handlePass(), and UClientFuncSF::handleSF().

Member Data Documentation

UPosRot USFPool::defaultSensorPose

protected

Default laser scanner posr - if not included in sensor data set

const int USFPool::MAX_SEGMENT_SCANS = 400

staticprotected

Max number of segment scans

int USFPool::newest

protected

Newest scan index

USFData USFPool::scans[MAX_SEGMENT_SCANS]

protected

Segments

int USFPool::scansCnt

protected

Number of received scans

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

• usfpool.h
• usfpool.cpp