#include <urespassable.h>

Inheritance diagram for UResPassable:

Public Member Functions
bool	addPassableInterval (const int right, const int left, double varMin, double varMin2)

void	addPassableIntervalParameters ()

bool	combineNearIntervals (double obstSize, double lowVarLimit)

bool	doFullAnalysis (ULaserData laserData, UPose pose, UPosRot laserPose, UObstaclePool obsts, bool outdoorContext, double obstSearchExt, UResRoadLine *roads)

bool	doObstAnalysis (ULaserData laserData, UPose pose, UPosRot laserPose, UObstaclePool obsts, bool outdoorContext)

ULaserPi *	findPi (int withThisIdx)

bool	findTopOfRoad (ULaserPi *pp)

ULaserPi *	getPi (int idx)

int	getPisCnt ()

ULaserScan *	getScan ()

void	getSettingsFromVarPool ()

int	makePassableIntervals2 (const int leftLim, const int rightLim)

int	makePassableIntervalsFit (double maxPassLeft, double maxPassRight, FILE logo, FILE fdI1, FILE *fdI2)

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

bool	setScan (ULaserData source, UPose odoPose, UPosRot laserPose)

	UResPassable ()

void	UResPassableInit ()

virtual	~UResPassable ()

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 ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

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

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)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

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

virtual void	createResources ()

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	print (const char *preString)

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 ()

Static Public Member Functions
static const char *	getResClassID ()

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

Protected Attributes
int	iEndDist

int	iHeight

int	iInside

int	iMaxVar

int	iMeasureDist

double	lineFitConvexFac

double	lineFitConvexOffset

double	lineFitEndpointDev

int	lineFitMinCnt

double	lineFitVarLimit

double	lineFitWidth

double	lineFitXTiltLimit

double	lineFitZTiltLimit

bool	lineSmoothSettings

bool	lineUseCombine

double	minCombinedSegmentWidth

ULaserPi	pis [MAX_PASSABLE_INTERVALS_PR_SCAN]

int	pisCnt

ULaserScan *	scan

UPosRot *	sensorPose

UVariable *	varConvexFac

UVariable *	varConvexOffset

UVariable *	varFitEndDev

UVariable *	varFitXTiltLimit

UVariable *	varFitZTiltLimit

UVariable *	varIgnoreIfFixed

UVariable *	varMinCombinedWidth

UVariable *	varMinObstDist

UVariable *	varRoughMinCnt

UVariable *	varRoughSDLimit

UVariable *	varRoughWidth

UVariable *	varUseIntervalCombiner

UVariable *	varUseSmoothSettings

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

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

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...

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

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResPassable::UResPassable ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UResPassableInit(), and ~UResPassable().

UResPassable::~UResPassable ( )

virtual

Destructor

References sensorPose.

Referenced by UResPassable().

Member Function Documentation

bool UResPassable::addPassableInterval	(	const int	right,
		const int	left,
		double	varMin,
		double	varMin2
	)

Add a new passable interval to scan. The position left and right are both included in the interval. 'varMin' is the minimum half-robot-width variance for the interval.

Todo:: ULaserScan::addPassableInterval overwriting last interval if list is full; should be better than that?

References MAX_PASSABLE_INTERVALS_PR_SCAN, pis, pisCnt, PQ_ROUGH, scan, ULaserPi::setInterval(), and ULaserScan::setQ().

Referenced by getPi(), and makePassableIntervals2().

void UResPassable::addPassableIntervalParameters ( )

Add used parameter variables to the var pool

References UResVarPool::addVar(), UResVarPool::createVarSpace(), UResBase::getResVersion(), UResVarPool::getVarPool(), varConvexFac, varConvexOffset, varFitEndDev, varFitXTiltLimit, varFitZTiltLimit, varIgnoreIfFixed, varMinCombinedWidth, varMinObstDist, varRoughMinCnt, varRoughSDLimit, varRoughWidth, varUseIntervalCombiner, and varUseSmoothSettings.

Referenced by getResClassID(), and UResPassableInit().

bool UResPassable::combineNearIntervals	(	double	obstSize,
		double	lowVarLimit
	)

Combine near intervals if they are close, and the split is not blocked by a major obstacle. 'obstSize is in meter hight ABOVE passable areas. 'lowVarLimit' is lower limit of variance, when compareing two intervals (if actual variance limit is lower than this, then this variance is used.)

max difference in variance for two intervals

References ULaserPi::getLeft(), ULineSegment::getOtherEnd(), ULaserScan::getPos(), ULaserPi::getRight(), ULaserPi::getSegment(), ULaserPi::getVarMin(), ULaserPi::getVarMin2(), UPosRot::getZ(), limitToPi(), MIN_MEASUREMENTS_PER_PI, mind(), pis, pisCnt, scan, sensorPose, ULaserPi::setInterval(), sortPis(), ULine::vec, UPosition::x, and UPosition::y.

Referenced by getPi(), and makePassableIntervalsFit().

bool UResPassable::doFullAnalysis	(	ULaserData *	laserData,
		UPose	pose,
		UPosRot	laserPose,
		UObstaclePool *	obsts,
		bool	outdoorContext,
		double	obstSearchExt,
		UResRoadLine *	roads
	)

Set parameters used for calculationg variance and detection of passable intervals Analyze scandata and make passable intervals and obstacles. Obstacles are searched up to 'obstSearchExt' further away than most distant passable interval.

References ULaserScan::findNearObstacles(), UVariable::getBool(), ULaserData::getMaxValidRange(), ULaserData::getScanTime(), ULaserData::getSerial(), getSettingsFromVarPool(), UVariable::getValued(), lineFitMinCnt, lineFitWidth, makePassableIntervalsFit(), pis, pisCnt, scan, UPoseTime::setPt(), setScan(), ULaserScan::setVariance(), UResRoadLine::update(), varIgnoreIfFixed, and varMinObstDist.

Referenced by getPi(), and UFunctionPassable::handlePass().

bool UResPassable::doObstAnalysis	(	ULaserData *	laserData,
		UPose	pose,
		UPosRot	laserPose,
		UObstaclePool *	obsts,
		bool	outdoorContext
	)

analize for obstacles only, assuming the laserscanner is horisintal alligned

Parameters

laserData	laserscan to be analized
pose	robot pose at scantime
laserPose	the position and orientation (6D) of laser scanner
obsts	is the obstacle pool, where the obstacles are to be delivered.
outdoorContext	if true obstacles are combined on distance (~0.6 m), else much tighter correlation (0.2m), to avoid to combine wincave walls.

Returns: true

References ULaserScan::findNearObstacles(), UVariable::getBool(), ULaserData::getMaxValidRange(), UResPoseHist::getNewest(), UResPoseHist::getOdoPoseOrigin(), ULaserData::getScanTime(), getSettingsFromVarPool(), UResBase::getStaticResource(), UVariable::getValued(), scan, UVariable::setPose(), UPoseTime::setPt(), setScan(), varIgnoreIfFixed, and varMinObstDist.

Referenced by getPi(), and UFunctionPassable::handlePass().

ULaserPi * UResPassable::findPi ( int withThisIdx )

Get the passable interval (if any), that includes this measurement index point

References ULaserPi::getLeft(), ULaserPi::getRight(), pis, and pisCnt.

Referenced by ULaserPi::findEdgeObstacles(), and getPi().

bool UResPassable::findTopOfRoad ( ULaserPi * pp )

Find top of passable interval. Returns true if found

References absd(), ULaserScan::getData(), ULaserPi::getFitVariance(), ULaserPi::getLeft(), ULine::getPositionOnLine(), ULaserPi::getRight(), ULaserPi::getSegment(), ULaserPi::getTilt(), ULine::getXYsignedDistance(), ULineSegment::length, lineFitZTiltLimit, maxd(), PQ_EASY, scan, ULaserPi::setCenter(), ULaserPoint::setQ(), sqr(), and ULaserPoint::varL.

Referenced by getPi(), and makePassableIntervalsFit().

ULaserPi* UResPassable::getPi ( int idx )

inline

Get this passable interval

References addPassableInterval(), combineNearIntervals(), doFullAnalysis(), doObstAnalysis(), findPi(), findTopOfRoad(), makePassableIntervals2(), makePassableIntervalsFit(), and pis.

Referenced by UFunctionPassable::handlePass().

int UResPassable::getPisCnt ( )

inline

Get number of passable intervals

References pisCnt.

Referenced by UFunctionPassable::handlePass().

static const char* UResPassable::getResClassID ( )

inlinestatic

Fixed name of this resource type

References addPassableIntervalParameters(), getSettingsFromVarPool(), print(), and setScan().

Referenced by UResPassable().

ULaserScan* UResPassable::getScan ( )

inline

Get new data into ULaserScan.

References scan.

Referenced by UFunctionPassable::handlePass().

void UResPassable::getSettingsFromVarPool ( )

Get values and settings from var pool

References UVariable::getBool(), UVariable::getInt(), UVariable::getValued(), lineFitConvexFac, lineFitConvexOffset, lineFitEndpointDev, lineFitMinCnt, lineFitVarLimit, lineFitWidth, lineFitXTiltLimit, lineFitZTiltLimit, lineSmoothSettings, lineUseCombine, minCombinedSegmentWidth, sqr(), varConvexFac, varConvexOffset, varFitEndDev, varFitXTiltLimit, varFitZTiltLimit, varMinCombinedWidth, varRoughMinCnt, varRoughSDLimit, varRoughWidth, varUseIntervalCombiner, and varUseSmoothSettings.

Referenced by doFullAnalysis(), doObstAnalysis(), and getResClassID().

int UResPassable::makePassableIntervals2	(	const int	leftLim,
		const int	rightLim
	)

Create passable intervals using line-fit variance data. This replaces the x-variance method in makePassableIntervals

References absd(), addPassableInterval(), ULaserPoint::distLeft, ULaserPoint::distRight, ULaserScan::getData(), iEndDist, iHeight, iInside, iMaxVar, iMeasureDist, ULaserPoint::isValid(), lineFitConvexOffset, lineFitEndpointDev, lineFitVarLimit, lineFitXTiltLimit, lineSmoothSettings, MAX_ALLOWED_HEIGHT, maxd(), MIN_ALLOWED_HEIGHT, MIN_MEASUREMENTS_PER_PI, mind(), mini(), ULaserPoint::pos, PQ_NOT, scan, ULaserScan::setQ(), sqr(), ULaserPoint::tilt, ULaserPoint::varL, ULaserPoint::varToL, UPosition::x, UPosition::y, and UPosition::z.

Referenced by getPi(), and makePassableIntervalsFit().

int UResPassable::makePassableIntervalsFit	(	double *	maxPassLeft,
		double *	maxPassRight,
		FILE *	logo,
		FILE *	fdI1,
		FILE *	fdI2
	)

Generate passable intervals using a line-fit method and accept if tilt is less than tiltLimit. and do edge detect (obstacles etc).

References absd(), combineNearIntervals(), findTopOfRoad(), ULaserScan::getData(), ULaserScan::getDataCnt(), ULaserPi::getLeft(), ULaserPi::getRight(), ULaserPi::getSegment(), ULaserScan::getSerial(), ULaserPi::getTilt(), ULineSegment::length, lineFitZTiltLimit, lineSmoothSettings, lineUseCombine, makePassableIntervals2(), MIN_MEASUREMENTS_PER_PI, minCombinedSegmentWidth, pis, pisCnt, scan, and sqr().

Referenced by doFullAnalysis(), and getPi().

const char * UResPassable::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

Reimplemented from UResVarPool.

References pis, pisCnt, and ULaserPi::print().

Referenced by getResClassID().

bool UResPassable::setScan	(	ULaserData *	source,
		UPose	odoPose,
		UPosRot *	laserPose
	)

Set new data into ULaserScan.

References ULock::lock(), scan, sensorPose, ULaserScan::setScan(), and ULock::unlock().

Referenced by doFullAnalysis(), doObstAnalysis(), and getResClassID().

void UResPassable::UResPassableInit ( )

Initialize class

References addPassableIntervalParameters(), iEndDist, iHeight, iInside, iMaxVar, iMeasureDist, scan, sensorPose, and UPosRot::set().

Referenced by UResPassable().

Member Data Documentation

int UResPassable::iEndDist

protected

Referenced by makePassableIntervals2(), and UResPassableInit().

int UResPassable::iHeight

protected

Is context indoor or outdoor Statistics

Referenced by makePassableIntervals2(), and UResPassableInit().

int UResPassable::iInside

protected

Referenced by makePassableIntervals2(), and UResPassableInit().

int UResPassable::iMaxVar

protected

Referenced by makePassableIntervals2(), and UResPassableInit().

int UResPassable::iMeasureDist

protected

Referenced by makePassableIntervals2(), and UResPassableInit().

double UResPassable::lineFitConvexFac

protected

Factor used when combining variance and line curvature, in order to favor convex road shapes.

Referenced by getSettingsFromVarPool().

double UResPassable::lineFitConvexOffset

protected

Favor convex shaped roads, by adding this value to the signed distance from one of the end-points to the fittet line

Referenced by getSettingsFromVarPool(), and makePassableIntervals2().

double UResPassable::lineFitEndpointDev

protected

Maximum deviation of endpoints of a passable interval relative to the minimum line-fit variance in the passable interval

Referenced by getSettingsFromVarPool(), and makePassableIntervals2().

int UResPassable::lineFitMinCnt

protected

Minimum number of measurements in a segment for roughness calculation

Referenced by doFullAnalysis(), and getSettingsFromVarPool().

double UResPassable::lineFitVarLimit

protected

Parameter for detection of passable interval If line fit variance is above this limit a passable interval can not be found here

Referenced by getSettingsFromVarPool(), and makePassableIntervals2().

double UResPassable::lineFitWidth

protected

width of line segment used for calculation of roughness

Referenced by doFullAnalysis(), and getSettingsFromVarPool().

double UResPassable::lineFitXTiltLimit

protected

Tilt limit for final passable intervals using y-x coordinate reference

Referenced by getSettingsFromVarPool(), and makePassableIntervals2().

double UResPassable::lineFitZTiltLimit

protected

Tilt limit for final passable intervals when using y-z coordinate reference (value <= laser tilt)

Referenced by findTopOfRoad(), getSettingsFromVarPool(), and makePassableIntervalsFit().

bool UResPassable::lineSmoothSettings

protected

Use tresholds that favor flat smooth surfaces

i.e. more sensitive to faults.

Referenced by getSettingsFromVarPool(), makePassableIntervals2(), and makePassableIntervalsFit().

bool UResPassable::lineUseCombine

protected

Debug flag to possibly disable combiner

Referenced by getSettingsFromVarPool(), and makePassableIntervalsFit().

double UResPassable::minCombinedSegmentWidth

protected

Minimum combined segment width

Referenced by getSettingsFromVarPool(), and makePassableIntervalsFit().

ULaserPi UResPassable::pis[MAX_PASSABLE_INTERVALS_PR_SCAN]

protected

Passable intervals in this scan

Referenced by addPassableInterval(), combineNearIntervals(), doFullAnalysis(), findPi(), getPi(), makePassableIntervalsFit(), and print().

int UResPassable::pisCnt

protected

Number of passable intervals

Referenced by addPassableInterval(), combineNearIntervals(), doFullAnalysis(), findPi(), getPisCnt(), makePassableIntervalsFit(), and print().

ULaserScan* UResPassable::scan

protected

local variables provided by this resource.

Referenced by addPassableInterval(), combineNearIntervals(), doFullAnalysis(), doObstAnalysis(), findTopOfRoad(), getScan(), makePassableIntervals2(), makePassableIntervalsFit(), setScan(), and UResPassableInit().

UPosRot* UResPassable::sensorPose

protected

Sensor data for robot

Referenced by combineNearIntervals(), setScan(), UResPassableInit(), and ~UResPassable().

UVariable* UResPassable::varConvexFac

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varConvexOffset

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varFitEndDev

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varFitXTiltLimit

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varFitZTiltLimit

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varIgnoreIfFixed

protected

Referenced by addPassableIntervalParameters(), doFullAnalysis(), and doObstAnalysis().

UVariable* UResPassable::varMinCombinedWidth

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varMinObstDist

protected

Group of fixed obstacles from a-priori map (mapbase) parameter for obstacle detection

Referenced by addPassableIntervalParameters(), doFullAnalysis(), and doObstAnalysis().

UVariable* UResPassable::varRoughMinCnt

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varRoughSDLimit

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varRoughWidth

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varUseIntervalCombiner

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

UVariable* UResPassable::varUseSmoothSettings

protected

Referenced by addPassableIntervalParameters(), and getSettingsFromVarPool().

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation