UObstacleGroup Class Reference

#include <uobstacle.h>

Inheritance diagram for UObstacleGroup:

Public Member Functions
void	clear ()
virtual const char *	getDataType ()
int	getMaxObstsCnt ()
UObstacle *	getNewObst ()
UObstacle *	getObstacle (int idx)
UObstacle *	getObstacle (unsigned long oSerial, bool mayCreate, int *obstacleIndex)
int	getObstsCnt ()
UPoseTime	getPoseFirst ()
UPoseTime	getPoseLast ()
UPoseTime *	getPPoseFirst ()
UPoseTime *	getPPoseLast ()
unsigned long	getSerial ()
void	logAll (unsigned int serial, FILE *logo)
virtual UObstacle *	makeNewObst ()
void	print (const char *prestr)
void	print (const char *prestr, char *buff, const int buffCnt, bool detail)
void	removeAllObsts ()
void	removeInvalid (UTime before, int hitLimit)
void	removeObst (int idx)
void	setPoseFirst (UPoseTime pose)
void	setPoseLast (UPoseTime pose)
void	setSerial (unsigned long value)
	UObstacleGroup ()
	~UObstacleGroup ()
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 UDataBase
bool	isA (const char *typeString)
virtual bool	isAlsoA (const char *typeString)
virtual void	snprint (const char *preString, char *buff, const int buffCnt)
	UDataBase ()
virtual	~UDataBase ()

Static Public Attributes
static const int	MAX_OBSTACLES = 500

Protected Attributes
unsigned long	nextObstSerial
UObstacle *	obsts [MAX_OBSTACLES]
int	obstsCnt
UPoseTime	poseFirst
UPoseTime	poseLast
unsigned long	serial

Detailed Description

Obstacle group, that — within reason — can be assumed to have same reference coordinate system, based on odometry. That is, systematic errors in pose within group, can not be corrected for.

Constructor & Destructor Documentation

UObstacleGroup::UObstacleGroup

(

)

Constructor

References UObstacle::clear(), and UObstacle::serial.

UObstacleGroup::~UObstacleGroup

(

)

Destructor

Member Function Documentation

void UObstacleGroup::clear

(

void

)

Clear obstacle group, but maintain the memory allocation of existing obstacle polygons.

Referenced by UObj3dPool::advanceNewGroup(), UObstaclePool::advanceNewGroup(), UObstacleHist::getGroup(), UResMapObst::getNearObstacles(), UClientFuncObstGrp::handleObst(), UResLaserIfObst::handleObstGrp(), and UResObstacle::updateMappedObstacles().

virtual const char* UObstacleGroup::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

int UObstacleGroup::getMaxObstsCnt ( )

inline

Get maximum obstacle count

UObstacle * UObstacleGroup::getNewObst

(

)

Get a pointer to a new obstacle added to the list. The obstacle is created if none is available. If no more space, then NULL is returned.

References UObstacle::clear(), and UObstacle::setSerial().

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), UResMapObst::getNearObstacles(), and USmlTag::getObstacleGroup().

UObstacle* UObstacleGroup::getObstacle ( int  idx )

inline

Get obstacle pointer with this index. NB! no range chack in index.

References UObstacle::serial.

Referenced by UReactivePath::avoidObst(), UReactivePath::getNearObstacle(), USmlTag::getObstacleGroup(), UAvoidPath2::groupObstacles(), UResLaserIfObst::listGroup(), UFunctionPassable::makePoly(), UNavPaint::paintObstGrp(), UClientFuncLaserGui::paintObstGrp(), UNavView::paintObstGrp(), UFuncObj3d::sendObjects(), UFunctionPassable::sendObstacles(), and UReactivePath::testForObstacleNearExit().

UObstacle * UObstacleGroup::getObstacle	(	unsigned long	oSerial,
		bool	mayCreate,
		int *	obstacleIndex
	)

Get obstacle with this serial number. If the serial number is not found and 'mayCreate' then a new obstacle is added. Returns a pointer to the found obstacle, and the obstacle index number in 'obstacleIndex' (if 'obstacleIndex' is not NULL). Returns NULL if no more space.

References UObstacle::setSerial().

int UObstacleGroup::getObstsCnt ( )

inline

Get actual count of obstacles

Referenced by UReactivePath::avoidObst(), UResAvoid::findPathToHere(), UReactivePath::getNearObstacle(), UResMapObst::getNearObstacles(), USmlTag::getObstacleGroup(), UAvoidPath2::groupObstacles(), UResLaserIfObst::listGroup(), UResLaserIfObst::listGroups(), UFunctionPassable::makePoly(), UResLaserIfObst::methodCall(), UNavPaint::paintObstGrp(), UClientFuncLaserGui::paintObstGrp(), UNavView::paintObstGrp(), UFuncObj3d::sendObjects(), UFunctionPassable::sendObstacles(), UReactivePath::testForObstacleNearExit(), and UResObstacle::updateMappedObstacles().

UPoseTime UObstacleGroup::getPoseFirst ( )

inline

Get first pose in this group

Referenced by UObj3dPool::getObstGrp(), UObstaclePool::getObstGrp(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

UPoseTime UObstacleGroup::getPoseLast ( )

inline

Get last pose in this group

Referenced by UObj3dPool::clear(), UObstaclePool::clear(), UObj3dPool::clearGrp(), UObstaclePool::clearGrp(), UResAvoid::findPathToHere(), UResLaserIfObst::listGroups(), UClientFuncLaserGui::onEvent(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

UPoseTime* UObstacleGroup::getPPoseFirst ( )

inline

Get ref to first pose in this group

Referenced by USmlTag::getObstacleGroup().

UPoseTime* UObstacleGroup::getPPoseLast ( )

inline

Get ref to last pose in this group

Referenced by USmlTag::getObstacleGroup(), UFunctionPassable::makePoly(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

unsigned long UObstacleGroup::getSerial ( )

inline

Get serial number for group

References UObstacle::serial.

Referenced by UResAvoid::findPathToHere(), UObstacleHist::getGroup(), UAvoidPath2::groupObstacles(), UResLaserIfObst::listGroup(), UResLaserIfObst::listGroups(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

void UObstacleGroup::logAll	(	unsigned int	serial,
		FILE *	logo
	)

Log all obstacle in group to - matlab oriented - file

References UObstacle::logObst().

Referenced by UObj3dPool::getObstGrp(), UObstaclePool::getObstGrp(), and UResLaserIfObst::handleObstGrp().

virtual UObstacle* UObstacleGroup::makeNewObst ( )

inlinevirtual

This is where new obstacles are created, the function is virtual, so it may be changed to a more special obstacle type

Returns

pointer to the newly created obstacle

Reimplemented in UObstacleGroupLaser, and UObj3dGroup.

References UObstacle::UObstacle().

void UObstacleGroup::print

(

const char *

prestr

)

Print status

References UObstacle::print().

Referenced by UResObstacle::snprint(), and UResObj3d::snprint().

void UObstacleGroup::print	(	const char *	prestr,
		char *	buff,
		const int	buffCnt,
		bool	detail
	)

Print obstacle group to string. If detail is true, then print details for each obstacle too. Returns result in buff, a char buffer of length buffCnt.

References UObstacle::isValid().

void UObstacleGroup::removeAllObsts

(

)

Remove all obstacles in one go, without clearing the start and end poses.

References ULock::lock(), and ULock::unlock().

Referenced by UObj3dPool::clear(), and UObstaclePool::clear().

void UObstacleGroup::removeInvalid	(	UTime	before,
		int	hitLimit
	)

Remove invalid obstacles. Do a timeout of obstacles valid only once. , i.e earlier than this time.

References UObstacle::getHits(), UObstacle::getPPoseLast(), and UPoseTime::t.

Referenced by ULaserScan::findNearObstacles(), UObj3dPool::getObstGrp(), and UObstaclePool::getObstGrp().

void UObstacleGroup::removeObst

(

int

idx

)

Remove this obstacle from list of active obstacles. Swaps with last obstacle in list and then reducec count of obstacles.

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and USmlTag::getObstacleGroup().

void UObstacleGroup::setPoseFirst ( UPoseTime  pose )

inline

Get first pose in this group

Referenced by UObj3dPool::getObstGrp(), and UObstaclePool::getObstGrp().

void UObstacleGroup::setPoseLast ( UPoseTime  pose )

inline

Get first pose in this group

void UObstacleGroup::setSerial ( unsigned long  value )

inline

Set serial number for group

References UObstacle::print(), and UObstacle::serial.

Referenced by UObj3dPool::advanceNewGroup(), UObstaclePool::advanceNewGroup(), and UObstacleHist::getGroup().

Member Data Documentation

const int UObstacleGroup::MAX_OBSTACLES = 500

static

Number of possible obstacles in a group

Referenced by UObstacleGroupLaser::addObstPoly(), UObj3dGroup::addObstPoly(), and USmlTag::getObstacleGroup().

unsigned long UObstacleGroup::nextObstSerial

protected

UObstacle* UObstacleGroup::obsts[MAX_OBSTACLES]

protected

List of obstacles (on heap)

Referenced by UObstacleGroupLaser::addObstPoly(), and UObj3dGroup::addObstPoly().

int UObstacleGroup::obstsCnt

protected

Number of used obstacles

Referenced by UObstacleGroupLaser::addObstPoly(), and UObj3dGroup::addObstPoly().

UPoseTime UObstacleGroup::poseFirst

protected

First poseTime that contributed to this obstacle

UPoseTime UObstacleGroup::poseLast

protected

Latest poseTime that contributed to this obstacle

Referenced by UObstacleGroupLaser::addObstPoly(), and UObj3dGroup::addObstPoly().

unsigned long UObstacleGroup::serial

protected

Group serial number - the serial number is used when updating to ensure the correct group is updated.

Referenced by UObstacleGroupLaser::addObstPoly().

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

• uobstacle.h
• uobstacle.cpp