UClientFuncLaserGui Class Reference

#include <uclientfunclasergui.h>

Inheritance diagram for UClientFuncLaserGui:

Public Member Functions
void	clear ()
void	doImage (UHighGuiWindowHandle *sourceImg, char *imgFullName, UPosition *imPos=NULL, URotation *imRot=NULL)
double	getHeight ()
UPosition	getPixToRobFloor (UPosition camPos, URotation camRot, double f, int w, int h, int x, int y)
double	getRobPos ()
bool	getSaveImages ()
virtual bool	onEvent (const char *interface, const char *dataType, void *data)
void	repaint ()
bool	saveImage ()
void	setHistDisplay (int scansToDisplay)
void	setObstList (UObstHist *value)
bool	setPaintVar (const char *name, const char *value)
void	setSaveImages (bool value)
void	setScale (double height)
void	setScale (double height, double mmrPos)
void	setSfPool (USFPool *pool)
	UClientFuncLaserGui ()
virtual	~UClientFuncLaserGui ()
Public Member Functions inherited from UClientFuncLaser
virtual void	changedNamespace (const char *newNamespace)
virtual const char *	commandList ()
virtual void	handleNewData (USmlTag *tag, const char *ifname)
virtual const char *	name ()
	UClientFuncLaser ()
virtual	~UClientFuncLaser ()
Public Member Functions inherited from UClientFuncBase
int	getMsgCnt ()
bool	getVerbose ()
bool	sendMsg (UClientPortSml *cnn, const char *buff, int buffCnt)
bool	sendMsg (UClientPortSml *cnn, const char *buff)
void	setVerbose (bool value)
	UClientFuncBase ()
virtual	~UClientFuncBase ()
Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)
	UCallBack ()
virtual	~UCallBack ()

Public Attributes
bool	paintBold
bool	paintCurves
bool	paintGPS
bool	paintGridOdo
double	paintGridSize
bool	paintIntervalLines
bool	paintMmr
bool	paintObst
bool	paintPathAll
int	paintPathHistCnt
bool	paintPathLines
bool	paintPathLinesAll
bool	paintPlan
bool	paintRoadLines
int	paintScanHistCnt
bool	paintSpeed
bool	paintVar
bool	paintVisPoly
int	paintVisPolyCnt
Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Protected Member Functions
bool	doRepaint (ULaserDataSet *scan)
virtual void	doTimeTick ()
virtual bool	gotNewData (ULaserDataSet *scan)
bool	paintNewestScan ()
Protected Member Functions inherited from UClientFuncLaser
UTime	getLaserTime (int histNum)
virtual bool	gotNewEkfData ()
virtual bool	gotNewFreePolyData ()
virtual bool	gotNewPathData ()
virtual bool	gotNewPlanData ()
void	setPose (UPoseTime poseTime)
void	setPoseIfNewer (UPose pose, UTime t)
Protected Member Functions inherited from UClientFuncBase
void	handleHelp (USmlTag *tag)
void	printReply (USmlTagIn *tag, const char *preString)

Private Member Functions
void	paintCross (UImage *img, int x, int y, int size, CvScalar col, int lineWidth)
bool	paintEkfData ()
void	paintFreePoly (UProbPoly *poly, UPose seenFromPose, bool historic)
void	paintHistScan (UImage *img, ULaserDataSet *scan, UPose seenFromPose, UPose *lastPose)
void	paintLineSegments (UPose seenFromPose)
void	paintObstGrp (UImage *img, UObstacleGroup *obst, UPose seenFromPose, int grpIdx)
bool	paintOdoData (UPose seenFromPose)
void	paintOdoDest (UImage *img, UPose seenFromPose)
bool	paintOdoGrid (double stepSize, bool bold)
bool	paintPathData (ULaserPathResult *path, int num)
void	paintPis (UImage *img, ULaserDataSet *scan, UPose seenFromPose, const int cnt)
bool	paintPlannerData (bool paintAll)
void	paintPose (UImage *img, int x, int y, double h, int size, CvScalar col, int lineWidth)
void	paintPostHistLine (UImage *img, ULaserDataSet *scan, UPose seenFromPose, UPose *lastPose)
bool	paintRangeRings (CvPoint robPos, UPosition devPos)
bool	paintRobotMmr (CvPoint robPos)
bool	paintRobotSmr (CvPoint robPos)
bool	paintScanStatData (ULaserDataSet *scan, bool paintVar, bool paintVarL, bool paintTilt)
bool	paintWpc (ULaserWpc *wpc)
void	paintWpListData ()

Private Attributes
UHighGuiWindowHandle	cvw
UImage *	img
double	MaxRange
UObstHist *	obsts
bool	repaintImage
UTime	repaintImageTime
bool	saveImages
bool	scannerWindowOK
USFPool *	sfPool
double	StartPos
UTime	t1
int	updates

Additional Inherited Members
Protected Attributes inherited from UClientFuncLaser
UPosition	ciGoal
UPose	ekfPose
UTime	ekfTime
int	ekfuSkipd
int	ekfuUsed
UProbPoly	freePoly [MAX_FREE_POLY_HIST]
int	freePolyCnt
int	freePolyNewest
UPosRot	laserPose
UPoseTime	odoPose
ULaserPathResult *	paths [MAX_NEW_PATH_CANDIDATES]
int	pathsCnt
UPlannerData	planner
UPoseTime	poseHist [MAX_POSE_HIST]
int	poseHistCnt
int	poseHistNewest
ULaserDataHistory	scanHist
UPose	toPose
ULaserWpc	wpcData
Protected Attributes inherited from UClientFuncBase
int	msgHandled
char	serverNamespace [MAX_SML_NAME_LENGTH]
int	serverNamespaceValue
bool	verboseMessages

Detailed Description

Shows a receiced laser scan

Author

Christian Andersen

Constructor & Destructor Documentation

UClientFuncLaserGui::UClientFuncLaserGui

(

)

Constructor

Position of laser in robot coordinate system

References img, MaxRange, NAMESPACE_MMRD, obsts, paintBold, paintGridOdo, paintGridSize, paintMmr, paintPathAll, paintPathHistCnt, paintPathLinesAll, paintPlan, paintScanHistCnt, paintVisPoly, paintVisPolyCnt, saveImages, scannerWindowOK, UClientFuncBase::serverNamespaceValue, setPaintVar(), sfPool, StartPos, and updates.

UClientFuncLaserGui::~UClientFuncLaserGui ( )

virtual

Destructor

Member Function Documentation

void UClientFuncLaserGui::clear

(

void

)

Claer all (mostly all) old data

References USFPool::clear(), ULaserDataHistory::clear(), UClientFuncLaser::poseHistCnt, UClientFuncLaser::scanHist, scannerWindowOK, and sfPool.

Referenced by clientCmdLine(), and getSaveImages().

void UClientFuncLaserGui::doImage	(	UHighGuiWindowHandle *	sourceImg,
		char *	imgFullName,
		UPosition *	imPos = NULL,
		URotation *	imRot = NULL
	)

Paint an image with laser scan points. Or some other hard coded options. Parameter may be hadle to the source image (or NULL for filename in code).

References a, URotation::asMatrix4x4MtoR(), URotation::asMatrix4x4RtoM(), UImage::copy(), UImage::cvArr(), cvw, data, UClientFuncLaser::freePoly, UClientFuncLaser::freePolyNewest, ULaserData::getAngle(), ULaserDataSet::getCount(), ULaserDataSet::getData(), ULaserData::getDistance(), UTime::getForFilename(), UHighGuiWindowHandle::getImage(), UPose::getMapToPose(), UPose::getMapToPosePose(), ULaserDataHistory::getNewest(), ULineSegment::getOtherEnd(), ULaserPathResult::getPassLine(), ULaserPathResult::getPassLinesCnt(), UImage::getPixRef(), getPixToRobFloor(), UProbPoly::getPoseOrg(), ULaserDataSet::getSerial(), UPose::h, UImage::height(), imagePath, UImage::imgTime, ULaserPathResult::isPathUsed(), UImage::loadBMP(), UHighGuiWindowHandle::makeImage(), UClientFuncLaser::odoPose, paintBold, paintIntervalLines, paintPathLinesAll, UClientFuncLaser::paths, UClientFuncLaser::pathsCnt, ULine::pos, UImage::pos, UImage::rot, roundi(), UImage::saveBMP(), UClientFuncLaser::scanHist, UPosition::set(), URotation::set(), UPixel::set(), UMatrix::setRow(), UMatrix::setSize(), UHighGuiWindowHandle::showImage(), UImage::width(), UPosition::x, UPose::x, UPosition::y, UPose::y, and UPosition::z.

Referenced by clientCmdLine(), and setScale().

bool UClientFuncLaserGui::doRepaint ( ULaserDataSet *  scan )

protected

Do the acual repaint of laser scan related data

References UImage::clear(), UImage::cvArr(), UClientFuncLaser::freePoly, UClientFuncLaser::freePolyCnt, UClientFuncLaser::freePolyNewest, ULaserDataSet::getCount(), ULaserDataSet::getData(), UObstHist::getGroup(), UObstHist::getGrpsCnt(), ULaserDataSet::getPisCnt(), UPosRot::getPos(), ULaserDataSet::getPose(), ULaserData::getPosition(), UPosRot::getRtoMMatrix(), ULaserDataHistory::getScan(), ULaserDataHistory::getScansCnt(), ULaserDataSet::getScanTime(), ULaserDataSet::getSensorPose(), ULaserDataSet::getSerial(), UImage::height(), img, ULaserData::inZoneA(), ULaserData::inZoneB(), ULaserData::isDazzled(), ULaserDataSet::isStatValid(), UClientFuncLaser::laserPose, MaxRange, mini(), obsts, UClientFuncLaser::odoPose, paintBold, paintCross(), paintCurves, paintEkfData(), paintFreePoly(), paintGPS, paintGridOdo, paintGridSize, paintHistScan(), paintIntervalLines, paintLineSegments(), paintMmr, paintObst, paintObstGrp(), paintOdoData(), paintOdoDest(), paintOdoGrid(), paintPathData(), paintPathHistCnt, paintPathLines, paintPis(), paintPlan, paintPlannerData(), paintPostHistLine(), paintRangeRings(), paintRobotMmr(), paintRobotSmr(), paintScanHistCnt, paintScanStatData(), paintSpeed, paintVar, paintVisPoly, paintVisPolyCnt, paintWpc(), UClientFuncLaser::paths, UClientFuncLaser::pathsCnt, roundi(), saveImage(), saveImages, UClientFuncLaser::scanHist, scannerWindowOK, UPoseTime::setPt(), UImage::setSize(), StartPos, UPoseTime::t, updates, UImage::width(), UClientFuncLaser::wpcData, UPosition::x, and UPosition::y.

Referenced by getRobPos(), and paintNewestScan().

void UClientFuncLaserGui::doTimeTick ( )

protectedvirtual

Called when idle

Reimplemented from UClientFuncBase.

References UTime::getTimePassed(), paintNewestScan(), repaintImage, and repaintImageTime.

Referenced by getRobPos().

double UClientFuncLaserGui::getHeight ( )

inline

Paint the used set of passable intervals in this image. Assume image pose is known Get display window height

References MaxRange.

Referenced by clientCmdLine().

UPosition UClientFuncLaserGui::getPixToRobFloor	(	UPosition	camPos,
		URotation	camRot,
		double	f,
		int	w,
		int	h,
		int	x,
		int	y
	)

Get position on robot floor for this (x,y) pixel position, given camera position/rotation (in robot coordinates), the image size and the focal length. Result may be invalid if line is parallel to plane and behind robot if pointing up. f is focal length (in pixels) and (w,h) is image size matching this focal length. Returns position where a line in the pixel direction crosses the floor plane.

References URotation::asMatrix4x4RtoM(), ULine::getPlaneLineCrossing(), UCamPar::getPtoCRob(), UCamPar::setCameraParameters(), and ULine::setFromPoints().

Referenced by doImage(), and getRobPos().

double UClientFuncLaserGui::getRobPos ( )

inline

Get display window height

References data, doRepaint(), doTimeTick(), getPixToRobFloor(), gotNewData(), img, onEvent(), paintCross(), paintEkfData(), paintFreePoly(), paintHistScan(), paintLineSegments(), paintNewestScan(), paintObstGrp(), paintOdoData(), paintOdoDest(), paintOdoGrid(), paintPathData(), paintPis(), paintPlannerData(), paintPose(), paintPostHistLine(), paintRangeRings(), paintRobotMmr(), paintRobotSmr(), paintScanStatData(), paintVar, paintWpc(), paintWpListData(), scan, setObstList(), setSfPool(), and StartPos.

Referenced by clientCmdLine().

bool UClientFuncLaserGui::getSaveImages ( )

inline

Get save status

References clear(), and saveImages.

Referenced by clientCmdLine().

bool UClientFuncLaserGui::gotNewData ( ULaserDataSet *  scan )

protectedvirtual

Called when a new scan is received

Reimplemented from UClientFuncLaser.

References repaint().

Referenced by getRobPos().

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

virtual

Call back function

Reimplemented from UCallBack.

References UObstHist::getGroup(), UObstHist::getGrpsCnt(), UObstacleGroup::getPoseLast(), USFPool::getScan(), obsts, UClientFuncLaser::odoPose, USFData::pose, repaint(), USFData::scanTime, UClientFuncLaser::setPose(), UPoseTime::setPt(), sfPool, and UPoseTime::t.

Referenced by getRobPos().

void UClientFuncLaserGui::paintCross ( UImage *  img, int  x, int  y, int  size, CvScalar  col, int  lineWidth  )

private

Paint a cross in image (2 lines in an x) at position x,y with size in pixels across. In this color

References UImage::cvArr().

Referenced by doRepaint(), getRobPos(), and paintPathData().

bool UClientFuncLaserGui::paintEkfData ( )

private

Show EKF position

References UImage::cvArr(), UClientFuncLaser::ekfPose, UClientFuncLaser::ekfTime, UClientFuncLaser::ekfuSkipd, UClientFuncLaser::ekfuUsed, UTime::getTimeAsString(), UPose::h, UImage::height(), img, paintBold, UImage::width(), UPose::x, and UPose::y.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintFreePoly ( UProbPoly *  poly, UPose  seenFromPose, bool  historic  )

private

Paint polygon with passable area from vision, as seend from this pose.

References UImage::cvArr(), UProbPoly::getIsObst(), UPose::getMapToPose(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UImage::height(), img, MaxRange, paintBold, roundi(), StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintHistScan ( UImage *  img, ULaserDataSet *  scan, UPose  seenFromPose, UPose *  lastPose  )

private

Paint scan history for this scan

References UImage::cvArr(), ULaserDataSet::getCount(), ULaserDataSet::getData(), ULaserData::getDistance(), ULaserData::getFlag(), UPose::getMapToPose(), ULaserDataSet::getPose(), UPose::getPoseToMap(), ULaserData::getPosition(), UPosRot::getRtoMMatrix(), ULaserDataSet::getSensorPose(), UImage::height(), UImage::inRange(), ULaserData::inZoneA(), ULaserData::inZoneB(), ULaserData::isDazzled(), MaxRange, paintBold, roundi(), UImage::setPix(), StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintLineSegments ( UPose  seenFromPose )

private

Paint lines, e.g. scan feature lines

References UImage::cvArr(), USFData::getDataType(), UPose::getMapToPose(), ULineSegment::getOtherEnd(), USFPool::getScan(), USFPool::getScansCnt(), USFData::getSegInt(), USFData::getSegs(), USFData::getSegsCnt(), UImage::height(), img, USFData::isNewest, ULineSegment::length, MaxRange, paintBold, paintScanHistCnt, ULine::pos, roundi(), USFData::segStr, sfPool, StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintNewestScan ( )

protected

Repaint newest scan (with potentially new settings

References doRepaint(), ULaserDataHistory::getNewest(), ULaserDataHistory::getScansCnt(), and UClientFuncLaser::scanHist.

Referenced by doTimeTick(), and getRobPos().

void UClientFuncLaserGui::paintObstGrp ( UImage *  img, UObstacleGroup *  obst, UPose  seenFromPose, int  grpIdx  )

private

Paint obstacle polygons

References UImage::cvArr(), UPose::getMapToPose(), UObstacleGroup::getObstacle(), UObstacleGroup::getObstsCnt(), UPolygon::getPoint(), UPolygon::getPointsCnt(), UImage::height(), UObstacle::isValid(), MaxRange, paintBold, roundi(), StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintOdoData ( UPose  seenFromPose )

private

Paint odometry position

References UImage::cvArr(), UTime::getDateString(), UTime::getDecSec(), UPose::getMapToPose(), ULaserDataSet::getPose(), UPoseTime::getPose(), ULaserDataHistory::getScan(), UTime::GetSec(), UTime::getTimeAsString(), UPose::h, UImage::height(), img, MaxRange, UTime::Now(), UClientFuncLaser::odoPose, paintBold, UClientFuncLaser::poseHist, UClientFuncLaser::poseHistCnt, UClientFuncLaser::poseHistNewest, roundi(), scan, UClientFuncLaser::scanHist, StartPos, UPoseTime::t, t1, UImage::width(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintOdoDest ( UImage *  img, UPose  seenFromPose  )

private

Paint odometry end pose, using endPoseX, endPoseY, endPoseH from calculator.

References UPlannerData::findPose(), UPose::getMapToPosePose(), UPose::h, UImage::height(), MaxRange, paintBold, paintPose(), UClientFuncLaser::planner, roundi(), StartPos, UImage::width(), UPose::x, and UPose::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintOdoGrid ( double  stepSize, bool  bold  )

private

Paint odometry grid

References UImage::cvArr(), UPose::getMapToPose(), UImage::height(), img, MaxRange, UClientFuncLaser::odoPose, roundi(), UPosition::set(), StartPos, UImage::width(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintPathData ( ULaserPathResult *  path, int  num  )

private

Paint detected paths

References UImage::cvArr(), ULaserPathResult::getEdgeLeft(), ULaserPathResult::getEdgeLeftValid(), ULaserPathResult::getEdgeRight(), ULaserPathResult::getEdgeRightValid(), ULaserPathResult::getEdgeTop(), ULaserPathResult::getEdgeTopValid(), UManoeuvre::getEndPoseV(), UManPPSeq::getEndPoseV(), UManPPSeq::getMan(), ULaserPathResult::getManSeq(), UManoeuvre::getManType(), UPose::getMapToPose(), UPose::getMapToPosePose(), ULineSegment::getOtherEnd(), UManSeq::getP2P(), UManSeq::getP2PCnt(), ULaserPathResult::getPassLine(), ULaserPathResult::getPassLinesCnt(), UPose::getPos(), UPose::getPoseToMap(), ULaserPathResult::getRoute(), ULaserPathResult::getRouteCnt(), UManPPSeq::getSeqCnt(), UManPPSeq::getStartPoseV(), UManArc::getTurnAngle(), UManArc::getTurnRadius(), UPose::h, UImage::height(), img, ULaserPathResult::isPassingAWall(), ULaserPathResult::isPathCrashed(), ULaserPathResult::isPathUsed(), UManoeuvre::MAN_ARC, UManoeuvre::MAN_LINE, UManoeuvre::MAN_STOP, MaxRange, UClientFuncLaser::odoPose, paintBold, paintCross(), paintIntervalLines, paintPathAll, paintPathLines, paintPathLinesAll, paintRoadLines, ULine::pos, roundi(), UPose::set(), UManArc::setTurnAngle(), UManArc::setTurnRadius(), StartPos, UImage::width(), UPosition::x, UPose::x, UPosition::y, UPose::y, and UPosition::z.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintPis ( UImage *  img, ULaserDataSet *  scan, UPose  seenFromPose, const int  cnt  )

private

Paint passable intervals for this scan

References UImage::cvArr(), ULaserPi::getLeftPos(), ULaserPi::getLeftSide(), UPose::getMapToPose(), ULaserDataSet::getPis(), ULaserDataSet::getPisCnt(), ULaserPi::getRightPos(), ULaserPi::getRightSide(), ULaserPi::getTopPos(), UImage::height(), MaxRange, paintBold, roundi(), StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintPlannerData ( bool  paintAll )

private

Paint planner

References UPlannerStopCrit::active, bool2str(), UPlannerData::cmdFile, UPlannerData::cmdLine, UPlannerData::cmdLineLast, UPlannerData::cmdLineNum, UPlannerData::cmdLineOverride, UPlannerData::cmdStoppedBy, UImage::cvArr(), UPlannerValue::getName(), UPlannerValue::getQuality(), UTime::getTimeAsString(), UPlannerValue::getType(), UPlannerValue::getValue(), img, UPlannerValue::isValid(), UPlannerStopCrit::name, NAMESPACE_MMRD, NAMESPACE_MMRSR2, paintBold, UClientFuncLaser::planner, UClientFuncBase::serverNamespaceValue, UTime::setTime(), UPlannerData::simSubDir, UPlannerData::simulated, ULaserWpc::speedAdvice, ULaserWpc::speedCurrent, ULaserWpc::speedPlanned, UPlannerStopCrit::status, UPlannerData::stopCrit, UPlannerData::stopCritCnt, VALTYP_3D, VALTYP_D, VALTYP_DQ, VALTYP_DS, VALTYP_POSE, VALTYP_TIME, UPlannerData::vars, UPlannerData::varsCnt, and UClientFuncLaser::wpcData.

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintPose ( UImage *  img, int  x, int  y, double  h, int  size, CvScalar  col, int  lineWidth  )

private

Paint a pose circle with heading vector

References UImage::cvArr(), and roundi().

Referenced by getRobPos(), and paintOdoDest().

void UClientFuncLaserGui::paintPostHistLine ( UImage *  img, ULaserDataSet *  scan, UPose  seenFromPose, UPose *  lastPose  )

private

Paint line from pose to last segment

References UImage::cvArr(), UPose::getMapToPose(), UPose::getPos(), ULaserDataSet::getPose(), UImage::height(), MaxRange, paintBold, roundi(), StartPos, UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintRangeRings ( CvPoint  robPos, UPosition  devPos  )

private

Paint laser scanner range circles

References UImage::cvArr(), UImage::height(), img, MaxRange, paintBold, roundi(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintRobotMmr ( CvPoint  robPos )

private

Paint the robot frame

References UImage::cvArr(), UPosRot::getX(), UImage::height(), img, UClientFuncLaser::laserPose, MaxRange, paintBold, and roundi().

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintRobotSmr ( CvPoint  robPos )

private

Paint the robot frame

References UImage::cvArr(), UPosRot::getX(), UImage::height(), img, UClientFuncLaser::laserPose, MaxRange, paintBold, and roundi().

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintScanStatData ( ULaserDataSet *  scan, bool  paintVar, bool  paintVarL, bool  paintTilt  )

private

Paint laser scan statistics

References UImage::cvArr(), ULaserData::getAngle(), ULaserDataSet::getCount(), ULaserDataSet::getData(), ULaserData::getFlag(), ULaserDataSet::getLaserTilt(), ULaserData::getPosition(), ULaserData::getSdL(), ULaserData::getTilt(), UImage::height(), img, ULaserData::inZoneA(), ULaserData::inZoneB(), maxi(), mini(), paintBold, roundi(), UImage::width(), UPosition::x, and UPosition::y.

Referenced by doRepaint(), and getRobPos().

bool UClientFuncLaserGui::paintWpc ( ULaserWpc *  wpc )

private

Paint motor speed and other WPC items

References UImage::cvArr(), UPlannerData::findValue(), UPlannerValue::getValue(), UImage::height(), img, MaxRange, ULaserWpc::motorLeft, ULaserWpc::motorRight, NAMESPACE_MMRD, paintBold, UClientFuncLaser::planner, roundi(), UClientFuncBase::serverNamespaceValue, StartPos, and UImage::width().

Referenced by doRepaint(), and getRobPos().

void UClientFuncLaserGui::paintWpListData ( )

private

Paint control interval data and other related information

References UImage::cvArr(), UPose::getMapToPose(), UImage::height(), img, MaxRange, UClientFuncLaser::odoPose, roundi(), StartPos, UImage::width(), UClientFuncLaser::wpcData, ULaserWpc::wpPos, ULaserWpc::wpPosCnt, UPosition::x, and UPosition::y.

Referenced by getRobPos().

void UClientFuncLaserGui::repaint

(

)

Set repaint flag

References UTime::Now(), repaintImage, and repaintImageTime.

Referenced by clientCmdLine(), gotNewData(), onEvent(), and setScale().

bool UClientFuncLaserGui::saveImage

(

)

Save laser image to file

References UImage::cvArr(), UTime::getForFilename(), USFPool::getScan(), ULaserDataHistory::getScan(), USFData::getScanTime(), ULaserDataSet::getSerial(), ULaserDataSet::getTime(), imagePath, img, UTime::now(), scan, UClientFuncLaser::scanHist, sfPool, and UClientFuncBase::verboseMessages.

Referenced by clientCmdLine(), and doRepaint().

void UClientFuncLaserGui::setHistDisplay ( int  scansToDisplay )

inline

Set number of history scans to display. default is -1, that is all available scans

References paintScanHistCnt.

Referenced by clientCmdLine().

void UClientFuncLaserGui::setObstList

(

UObstHist *

value

)

Set pointer to obstacles

References UCallBack::addOnEvent(), and obsts.

Referenced by clientCmdLine(), and getRobPos().

bool UClientFuncLaserGui::setPaintVar	(	const char *	name,
		const char *	value
	)

Set paint variable to this value Returns true if value is known

References paintBold, paintCurves, paintGPS, paintGridOdo, paintGridSize, paintIntervalLines, paintMmr, paintObst, paintPathAll, paintPathHistCnt, paintPathLines, paintPathLinesAll, paintPlan, paintRoadLines, paintScanHistCnt, paintSpeed, paintVar, paintVisPoly, paintVisPolyCnt, and str2bool().

Referenced by clientCmdLine(), setScale(), and UClientFuncLaserGui().

void UClientFuncLaserGui::setSaveImages ( bool  value )

inline

Save images at every update

References saveImages.

Referenced by clientCmdLine().

void UClientFuncLaserGui::setScale ( double  height )

inline

Set scale of MMR image i.e. height of image in meter

References MaxRange.

Referenced by clientCmdLine().

void UClientFuncLaserGui::setScale ( double  height, double  mmrPos  )

inline

Set MMR image height and position of mmr. All in meter.

References doImage(), MaxRange, UClientFuncLaser::name(), repaint(), setPaintVar(), and StartPos.

void UClientFuncLaserGui::setSfPool

(

USFPool *

pool

)

Set pointer to scan feature pool

References UCallBack::addOnEvent(), and sfPool.

Referenced by clientCmdLine(), and getRobPos().

Member Data Documentation

UHighGuiWindowHandle UClientFuncLaserGui::cvw

private

openCV variables to show image

Referenced by doImage().

UImage* UClientFuncLaserGui::img

private

Image to be displayed

Referenced by doRepaint(), getRobPos(), paintEkfData(), paintFreePoly(), paintLineSegments(), paintOdoData(), paintOdoGrid(), paintPathData(), paintPlannerData(), paintRangeRings(), paintRobotMmr(), paintRobotSmr(), paintScanStatData(), paintWpc(), paintWpListData(), saveImage(), and UClientFuncLaserGui().

double UClientFuncLaserGui::MaxRange

private

Max range in image

Referenced by doRepaint(), getHeight(), paintFreePoly(), paintHistScan(), paintLineSegments(), paintObstGrp(), paintOdoData(), paintOdoDest(), paintOdoGrid(), paintPathData(), paintPis(), paintPostHistLine(), paintRangeRings(), paintRobotMmr(), paintRobotSmr(), paintWpc(), paintWpListData(), setScale(), and UClientFuncLaserGui().

UObstHist* UClientFuncLaserGui::obsts

private

Pointer to obstacle list

Referenced by doRepaint(), onEvent(), setObstList(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintBold

Paint in bold (thicker bigger)

Referenced by doImage(), doRepaint(), paintEkfData(), paintFreePoly(), paintHistScan(), paintLineSegments(), paintObstGrp(), paintOdoData(), paintOdoDest(), paintPathData(), paintPis(), paintPlannerData(), paintPostHistLine(), paintRangeRings(), paintRobotMmr(), paintRobotSmr(), paintScanStatData(), paintWpc(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintCurves

Paint statistical curves

Referenced by doRepaint(), and setPaintVar().

bool UClientFuncLaserGui::paintGPS

Paint all support stuff Paint EKF (GPS) data

Referenced by doRepaint(), and setPaintVar().

bool UClientFuncLaserGui::paintGridOdo

paint grid (rectangular odo grid

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

double UClientFuncLaserGui::paintGridSize

Distance between grid lines - in meter

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintIntervalLines

Paint interval lines

Referenced by doImage(), doRepaint(), paintPathData(), and setPaintVar().

bool UClientFuncLaserGui::paintMmr

Paint robot as an MMR (else and smr)

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintObst

Paint planning info (var and mission line)

Referenced by doRepaint(), and setPaintVar().

bool UClientFuncLaserGui::paintPathAll

Pint all planned routes

Referenced by paintPathData(), setPaintVar(), and UClientFuncLaserGui().

int UClientFuncLaserGui::paintPathHistCnt

Number of scans to use in path hist

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintPathLines

Paint path lines - alternative and used path

Referenced by doRepaint(), paintPathData(), and setPaintVar().

bool UClientFuncLaserGui::paintPathLinesAll

Paint path lines for all, also alternaive paths

Referenced by doImage(), paintPathData(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintPlan

Paint planning info (var and mission line)

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintRoadLines

Paint road lines

Referenced by paintPathData(), and setPaintVar().

int UClientFuncLaserGui::paintScanHistCnt

Number of scans to use in path hist

Referenced by doRepaint(), paintLineSegments(), setHistDisplay(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::paintSpeed

Paint robot speed

Referenced by doRepaint(), and setPaintVar().

bool UClientFuncLaserGui::paintVar

Paint variables

Referenced by doRepaint(), getRobPos(), and setPaintVar().

bool UClientFuncLaserGui::paintVisPoly

Paint vision based polygon

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

int UClientFuncLaserGui::paintVisPolyCnt

Number of vision poygons to paint

Referenced by doRepaint(), setPaintVar(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::repaintImage

private

Flag to indicate that image should be repainted

Referenced by doTimeTick(), and repaint().

UTime UClientFuncLaserGui::repaintImageTime

private

Timestamp of oldest data not painted

Referenced by doTimeTick(), and repaint().

bool UClientFuncLaserGui::saveImages

private

Save image at every update?

Referenced by doRepaint(), getSaveImages(), setSaveImages(), and UClientFuncLaserGui().

bool UClientFuncLaserGui::scannerWindowOK

private

Is laser scanner window created

Referenced by clear(), doRepaint(), and UClientFuncLaserGui().

USFPool* UClientFuncLaserGui::sfPool

private

Pointer to scanfeatures

Referenced by clear(), onEvent(), paintLineSegments(), saveImage(), setSfPool(), and UClientFuncLaserGui().

double UClientFuncLaserGui::StartPos

private

Start position of robot relative to bottom of image (meter)

Referenced by doRepaint(), getRobPos(), paintFreePoly(), paintHistScan(), paintLineSegments(), paintObstGrp(), paintOdoData(), paintOdoDest(), paintOdoGrid(), paintPathData(), paintPis(), paintPostHistLine(), paintWpc(), paintWpListData(), setScale(), and UClientFuncLaserGui().

UTime UClientFuncLaserGui::t1

private

timeing?

Referenced by paintOdoData().

int UClientFuncLaserGui::updates

private

Number of updates that is received

Referenced by doRepaint(), and UClientFuncLaserGui().

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

• uclientfunclasergui.h
• uclientfunclasergui.cpp