#include <uobj3dpool.h>

Inheritance diagram for UObstacleVision:

Public Member Functions
virtual void	clear ()

virtual const char *	codeXmlAttributes (char *buff, const int buffCnt)

virtual const char *	getDataType ()

	UObstacleVision ()

virtual	~UObstacleVision ()

Public Member Functions inherited from UObstacle
virtual const char *	codeXml (char buf, const int bufCnt, char extraAttr)

int	getHits ()

double	getMargin ()

UPoseTime	getPoseFirst ()

UPoseTime	getPoseLast ()

UPoseTime *	getPPoseFirst ()

UPoseTime *	getPPoseLast ()

unsigned long	getSerial ()

void	initPoseFirst (UPoseTime pose)

bool	isValid ()

void	logObst (FILE *logo)

bool	mergeableOnCogLimits (UPolygon *other, double margin)

void	print (const char *prestr)

void	print (const char prestr, char buff, const int buffCnt)

void	setHits (int value)

void	setMargin (double value)

void	setPoseFirst (UPoseTime pose)

void	setPoseLast (UPoseTime pose)

void	setSerial (unsigned long value)

void	setValid (bool value)

	UObstacle ()

	~UObstacle ()

Public Member Functions inherited from UPolygon40
virtual void	sortByAngleXYTo (UPosition *pc)

	UPolygon40 ()

Public Member Functions inherited from UPolygon
bool	add (UPosition point)

bool	add (UPosition *point)

bool	add (UPolygon *poly)

bool	add (double x, double y, double z=0)

virtual char *	codeXml (char buf, const int bufCnt, const char extraAttr)

char *	codeXml (const char name, char buf, int bufCnt, const char *extra)

bool	copy (CvPoint *source, int sourceCnt)

bool	copyPointsTo (UPolygon *destination)

bool	copyTo (UPolygon *destination)

bool	cut (U2Dlined line, UPolygon source, UPolygon dstL, UPolygon dstR)

int	cutPoints (U2Dlined line, U2Dpos xPnts, int xPntsCnt)

bool	extractConvexTo (UPolygon *destination)

double	getClosestDistance (double toX, double toY, double maxRelevantDist, UPosition closest, bool atVertex=NULL)

int	getCloseVertexCnt (double dist)

UPosition	getCogXY ()

double	getCogXYmaxDist ()

int	getCrossings (ULineSegment *seg, UPosition xes[], const int xesCnt)

double	getDistance (double x, double y, int closeSide=NULL, int closeVertex=NULL)

double	getDistanceXYsigned2 (UPosition pos, int idx, UPosition posOnPolygon, bool *vertex)

UPosition *	getFromTop (int fromTop)

UPosition	getLastPoint ()

bool	getLimits (double minx, double miny, double maxx, double maxy)

UPosition *	getLowerLeftXY ()

double	getMostDistantVertexXY (double x, double y, double h, int side, UPosition *posOnPolygon)

int	getMostDistantXY (ULineSegment line, bool leftSide, bool insideSegment, double distance, int exclude=-1, double *tPos=NULL)

UPosition	getPoint (int index)

UPosition *	getPoints ()

int	getPointsCnt ()

int	getPointsMax ()

UPosition	getPPoint (int index)

UPosition **	getPPoints ()

ULineSegment	getSegment (int index)

double	getXYarea ()

bool	insert (UPosition pos, int index)

virtual bool	isAlsoA (const char *typeString)

bool	isCogXYvalid ()

bool	isEmbedded (UPolygon other, double maxDist=NULL)

bool	isInsideConvex (double x, double y, double margin=0.0)

bool	isOverlappingXY (UPolygon poly2, int count=NULL, UPosition xes[]=NULL, const int xesCnt=0)

bool	isOverlappingXYconvex (UPolygon poly2, double margin, int closeThis=NULL, int *closePoly2=NULL)

bool	isOverlappingXYconvex2 (UPolygon poly2, double margin, UPosition close=NULL)

bool	isOverlappingXYconvexSeg (UPolygon poly2, double margin, int closeThis[6], int closeThisCnt, int closePoly2[6], int *closePoly2Cnt)

bool	isOverlappingXYtype (UPolygon poly2, int xcnt, UPosition xes[], const int xesCnt, int type[])

bool	isPolygon ()

bool	isPolyline ()

UPosition	pop ()

void	print (const char *prestring)

void	printSort (const char *prestring)

bool	push (UPosition *point)

void	remove (int index)

int	removeNearVertex (double dist)

void	setAsPolygon (bool value=true)

void	setAsPolyline (bool value=true)

void	setCogXYvalid (bool value)

void	setColor (const char *colorStr)

bool	setPoint (int idx, UPosition pos)

void	setPointsCnt (int value)

bool	setSize (int maxPoints)

virtual void	snprint (const char prestring, char buff, const int buffCnt)

bool	toConvex ()

	UPolygon ()

virtual	~UPolygon ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Attributes
bool	gndBased

double	height

bool	human

Public Attributes inherited from UPolygon
char	color [8]

Additional Inherited Members
Static Public Attributes inherited from UPolygon40
static const int	MAX_POINTS = 40

Protected Member Functions inherited from UPolygon
bool	copySortedTo (UPolygon *destination)

Protected Attributes inherited from UObstacle
int	hits

double	margin

UPoseTime	pose1

UPoseTime	pose2

unsigned long	serial

bool	valid

Protected Attributes inherited from UPolygon
bool	aPolygon

UPosition	cogXY

double	cogXYmaxDist

bool	cogXYvalid

UPosition *	points

int	pointsCnt

int	pointsMax

UPosition **	ppoints

int	ppointsCnt