#include <ufuncgndana.h>

Inheritance diagram for UFuncGndAna:

Public Types
enum	UAttTypes { height = 0, heightSd, heightCnt, green, greenSd, red, redSd, attributeTypeCnt }
	currently attribute types available (detected) More...

enum	UPatchTypes { grass = 0, gravel, weed, stone, asphalt, patchTypeCnt }
	possible patch types to classify More...

Public Member Functions
virtual void	createResources ()

virtual bool	handleCommand (UServerInMsg msg, void extra)

	UFuncGndAna ()

virtual	~UFuncGndAna ()

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 ()

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

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 ()

Public Attributes
UGroundPatches *	grp

bool	silent

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

Protected Member Functions
bool	do3dGroundPlane (UImg3Dpoints *cloud)
	find candidates for human detections. Estimates the ground plane from 3D cloud. More...

bool	doAnalysis (UServerInMsg msg, UDataBase pushedCloud)

bool	sendObjects (UServerInMsg *msg, int maxCnt, bool updateOnly)

void	setFuzzpParamsFromGlobal ()

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
UImg3Dpoints *	cloud3d
	3d cloud More...

UPlane	gndPlane
	estimated groun d plane More...

UTime	gndPlaneTime
	ground plane time More...

bool	gndPlaneValid
	ground plane valid More...

double	gndQual
	ground plane quality More...

UPatchTypeSets *	gradeSet
	fuzzy patch grade set More...

UVariable *	varAttName [PAC]

UVariable *	varAttTypeCnt

UVariable *	varBBminX

UVariable *	varCellSize

UVariable *	varDistMaxX

UVariable *	varGndMaxZ

UVariable *	varGndMinQ

UVariable *	varGndMinZ

UVariable *	varGndRedFac

UVariable *	varPatchAtts [PTC][PAC][3]

UVarPool *	varPatchType [PTC]

UVariable *	varPatchTypeCnt

UVariable *	varResultImg

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
static const int	PAC = attributeTypeCnt

static const int	PTC = patchTypeCnt

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...

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

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

static const int	MAX_RESOURCE_LIST_SIZE = 250

Detailed Description

This plugin (or module) converts a 3D point cloud to 3D polygons that can be obstacles or free navigateable ground area.

Author: Christian Andersen

Member Enumeration Documentation

enum UFuncGndAna::UAttTypes

currently attribute types available (detected)

Enumerator
height
heightSd
heightCnt
green
greenSd
red
redSd
attributeTypeCnt

enum UFuncGndAna::UPatchTypes

possible patch types to classify

Enumerator
grass
gravel
weed
stone
asphalt
patchTypeCnt

Constructor & Destructor Documentation

UFuncGndAna::UFuncGndAna ( )

Constructor

UFuncGndAna::~UFuncGndAna ( )

virtual

Destructor

Member Function Documentation

void UFuncGndAna::createResources ( )

virtual

Called by server after this module is integrated into the server core structure, i.e. all core services are in place, but no commands are serviced for this module yet. Create any resources that this modules needs and add these to the resource pool to be integrated in the global variable pool and method sharing. Remember to add to resource pool by a call to addResource(UResBase * newResource, this). This module must also ensure that any resources creted are deleted (in the destructor of this class) Resource shut-down code should be handled in the resource destructor.

Reimplemented from UFunctionBase.

References UGradeSet::MNL.

bool UFuncGndAna::do3dGroundPlane ( UImg3Dpoints * cloud )

protected

find candidates for human detections. Estimates the ground plane from 3D cloud.

Parameters

cloud the 3D cloud to be processed.

Returns: true if a plane were found. The plane and quality is saved in class.

References UImg3Dpoints::add(), UPlane::clear(), UPosRot::getCamToRobPlane(), UImg3Dpoints::getRansacPlane(), UPosRot::getRobToCamPlane(), UTime::getTimePassed(), UImg3Dpoints::inSensorCoordinates, UTime::now(), UImg3Dpoints::p3d, UImg3Dpoints::p3dCnt, UImg3Dpoint::pos, UImg3Dpoints::pose, UTime::print(), UImg3Dpoint::q, UImg3Dpoints::time, UImg3Dpoints::toRobotCoordinates(), UPosition::x, and UPosition::z.

bool UFuncGndAna::doAnalysis	(	UServerInMsg *	msg,
		UDataBase *	pushedCloud
	)

protected

Handle object cloud processing commands

Parameters

msg	message and client information
pushedCloud	is an optional point cloud to be used.

Returns: true if any reply is send to the client (OK or not)

References USmlTagIn::getAttInteger(), USmlTagIn::getAttValueBool(), UImagePool::getImage(), USmlTagIn::getTagName(), UDataBase::isA(), ULock::lock(), UServerInMsg::tag, UImage::toRGB(), and ULock::unlock().

bool UFuncGndAna::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 USmlTagIn::getAttBool(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), and UServerInMsg::tag.

bool UFuncGndAna::sendObjects	(	UServerInMsg *	msg,
		int	maxCnt,
		bool	updateOnly
	)

protected

Send groups of obstacles to client. May send newly updated obstacles only when 'updatesOnly' is true.

void UFuncGndAna::setFuzzpParamsFromGlobal ( )

protected

Set fuzzy membership curves from global values

Set from global values

References UGradeSet::addGradeLimit(), UGradeSet::clear(), UPatchType::getSet(), and UGradeSet::setAttWeight().

Member Data Documentation

UImg3Dpoints* UFuncGndAna::cloud3d

protected

3d cloud

UPlane UFuncGndAna::gndPlane

protected

estimated groun d plane

UTime UFuncGndAna::gndPlaneTime

protected

ground plane time

bool UFuncGndAna::gndPlaneValid

protected

ground plane valid

double UFuncGndAna::gndQual

protected

ground plane quality

UPatchTypeSets* UFuncGndAna::gradeSet

protected

fuzzy patch grade set

UGroundPatches* UFuncGndAna::grp

const int UFuncGndAna::PAC = attributeTypeCnt

staticprotected

const int UFuncGndAna::PTC = patchTypeCnt

staticprotected

bool UFuncGndAna::silent

is function to be silent

UVariable* UFuncGndAna::varAttName[PAC]

protected

UVariable* UFuncGndAna::varAttTypeCnt

protected

UVariable* UFuncGndAna::varBBminX

protected

UVariable* UFuncGndAna::varCellSize

protected

UVariable* UFuncGndAna::varDistMaxX

protected

UVariable* UFuncGndAna::varGndMaxZ

protected

UVariable* UFuncGndAna::varGndMinQ

protected

UVariable* UFuncGndAna::varGndMinZ

protected

UVariable* UFuncGndAna::varGndRedFac

protected

UVariable* UFuncGndAna::varPatchAtts[PTC][PAC][3]

protected

UVarPool* UFuncGndAna::varPatchType[PTC]

protected

UVariable* UFuncGndAna::varPatchTypeCnt

protected

UVariable* UFuncGndAna::varResultImg

protected

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation