#include <uresroadline.h>

Inheritance diagram for UResRoadLine:

Public Member Functions
void	addRoadlineParameters ()

int	getBestLine ()

int	getCentIdx ()

int	getLeftIdx ()

int	getRightIdx ()

URoadLine *	getRoadLine (int idx)

int	getRoadsCnt ()

void	postUpdate (unsigned int scan, UPoseTime *pose, bool moving)

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

void	update (unsigned long scan, ULaserPi pis, int pisCnt, UPoseTime pose, UPosRot sensorPose, double maxLineRange)

void	updateRoadVariables (UPoseTime *pose)

	UResRoadLine ()

void	UResRoadLineInit ()

virtual	~UResRoadLine ()

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 Member Functions
int	findCurrentRoad (UPoseTime *pose)

void	findCurrentRoad2 (UPoseTime *pose)

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
int	bestLine

double	gain

UPoseTime	odoPose

int	roadCenterIdx

int	roadLeftIdx

FILE *	roadLog

int	roadRightIdx

URoadLine	roads [MAX_ROAD_LINES]

int	roadsCnt

unsigned long	roadSerial

UVariable *	varPoolIdx [13]

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	MAX_ROAD_LINES = 60

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
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

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

UResRoadLine::UResRoadLine ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UResRoadLineInit(), and ~UResRoadLine().

UResRoadLine::~UResRoadLine ( )

virtual

Destructor

Referenced by UResRoadLine().

Member Function Documentation

void UResRoadLine::addRoadlineParameters ( )

Add used parameter variables to the var pool

Referenced by getResClassID().

int UResRoadLine::findCurrentRoad ( UPoseTime * pose )

protected

Search among detected road lines to find the most likely curent road, that is the best left edge to the left that has a significant update count. The best line is allowed to slightly on the wrong side of the robot. Returns index to the best of the three road lines

References UEdgeList::add(), UEdgeList::getBest(), URoadLine::getLine(), URoadLine::getLineType(), URoadLine::getQual(), URoadLine::getUpdateCnt(), ULine::getXYsignedDistance(), URoadLine::isValid(), UPosition::set(), UPose::x, and UPose::y.

Referenced by getRightIdx().

void UResRoadLine::findCurrentRoad2 ( UPoseTime * pose )

protected

Second extended version of curent road finder

References compareRdFull(), URoad::currentCenter, URoad::currentLeft, URoad::currentRight, URoad::distC, URoad::distL, URoad::distR, URoadLine::getLine(), URoadLine::getUpdateCnt(), ULine::getXYsignedDistance(), URoad::idxCenter, URoad::idxLeft, URoad::idxRight, URoadLine::isA(), URoad::rlCenter, URoad::rlLeft, URoad::rlRight, UPosition::set(), URoad::setRoadQ(), UPose::x, and UPose::y.

Referenced by getRightIdx().

int UResRoadLine::getBestLine ( )

inline

Get index to best road line

References bestLine.

int UResRoadLine::getCentIdx ( )

inline

Get center road-line index. Returns -1 if no valid line is estimated

References roadCenterIdx.

Referenced by UFunctionPassable::sendRoadLines().

int UResRoadLine::getLeftIdx ( )

inline

Get left road-edge index. Returns -1 if no valid line is estimated

References roadLeftIdx.

Referenced by UFunctionPassable::sendRoadLines().

static const char* UResRoadLine::getResClassID ( )

inlinestatic

Fixed name of this resource type

References addRoadlineParameters(), print(), scan, and update().

Referenced by UResRoadLine().

int UResRoadLine::getRightIdx ( )

inline

Get right road-edge index. Returns -1 if no valid line is estimated

References findCurrentRoad(), findCurrentRoad2(), roadRightIdx, and updateRoadVariables().

Referenced by UFunctionPassable::sendRoadLines().

URoadLine* UResRoadLine::getRoadLine ( int idx )

inline

Get pointer to road line element

References roads.

Referenced by UFunctionPassable::sendRoadLines().

int UResRoadLine::getRoadsCnt ( )

inline

Get number of established road lines

References postUpdate(), and roadsCnt.

Referenced by UFunctionPassable::sendRoadLines().

void UResRoadLine::postUpdate	(	unsigned int	scan,
		UPoseTime *	pose,
		bool	moving
	)

Update all lines that has not received an update, that is drop unmaintained lines

References URoadLine::isValid(), and URoadLine::postUpdate().

Referenced by getRoadsCnt().

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

virtual

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. print status to a string buffer

Reimplemented from UResVarPool.

Referenced by getResClassID().

void UResRoadLine::update	(	unsigned long	scan,
		ULaserPi *	pis,
		int	pisCnt,
		UPoseTime	pose,
		UPosRot *	sensorPose,
		double	maxLineRange
	)

Get values and settings from var pool Update road lines using these passable intervals

References URoadLine::clear(), compareRLC(), UPosition::dist(), ULaserPi::getCenterPos(), URoadLine::getEstVar(), ULaserPi::getLeftPos(), URoadLine::getLine(), URoadLine::getLineType(), ULaserPi::getRightPos(), UPosRot::getRtoMMatrix(), URoadLine::getScanSerial(), URoadLine::getUpdateCnt(), UPose::h, URoadLine::isA(), URoadLine::isValid(), limitToPi(), UEdgeLinePair::line, MAX_PASSABLE_INTERVALS_PR_SCAN, UEdgeLinePair::pi, UEdgeLinePair::pisPos, scan, UPosRot::setFromPose(), URoadLine::setNew(), UEdgeLinePair::setPair(), URoadLine::update(), UPose::x, and UPose::y.

Referenced by UResPassable::doFullAnalysis(), and getResClassID().

void UResRoadLine::updateRoadVariables ( UPoseTime * pose )

Update road variables

References URoadLine::getEstSD(), URoadLine::getLine(), UTime::getMicrosec(), ULineSegment::getOtherEnd(), UPose::getPoseToMap(), ULine::getPositionOnLine(), URoadLine::getQual(), URoadLine::getScanSerial(), UTime::getSec(), URoadLine::getUpdateCnt(), ULine::getXYsignedDistance(), ULineSegment::length, UPoseTime::t, UPosition::x, and UPosition::y.

Referenced by getRightIdx().

void UResRoadLine::UResRoadLineInit ( )

Initialize class

References dataPath.

Referenced by UResRoadLine().

Member Data Documentation

int UResRoadLine::bestLine

protected

Currently best line

Referenced by getBestLine().

double UResRoadLine::gain

protected

Initial gain for road line update

const int UResRoadLine::MAX_ROAD_LINES = 60

staticprotected

MAX number of available road lines

UPoseTime UResRoadLine::odoPose

protected

robot pose (last)

int UResRoadLine::roadCenterIdx

protected

Index to (best estimated) center road line

Referenced by getCentIdx().

int UResRoadLine::roadLeftIdx

protected

Index to (best estimated) left road line

Referenced by getLeftIdx().

FILE* UResRoadLine::roadLog

protected

File handle for road log

int UResRoadLine::roadRightIdx

protected

Index to (best estimated) right road line

Referenced by getRightIdx().

URoadLine UResRoadLine::roads[MAX_ROAD_LINES]

protected

Lines

Referenced by getRoadLine().

int UResRoadLine::roadsCnt

protected

Last used road line

Referenced by getRoadsCnt().

unsigned long UResRoadLine::roadSerial

protected

Next serial number for road lines

UVariable* UResRoadLine::varPoolIdx[13]

protected

Index to road distance var pool variables

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation