UPoseV Class Reference

#include <uposev.h>

Inheritance diagram for UPoseV:

Public Member Functions
virtual void	fprint (FILE *fd, const char *prestring)
virtual const char *	getDataType ()
UPose	getPose ()
double	getVel ()
UPoseV	operator+ (UPoseV pDelta)
UPoseV	operator+ (UPose pDelta)
UPoseV	operator- (UPoseV pRef)
UPoseV	operator= (UPose source)
UPoseV	operator= (UPoseV source)
void	print (const char *prestring, char *buff, const int buffCnt)
void	print (const char *prestring)
void	set (double ix, double iy, double ih, double iv)
void	set (UPose pose, double iv)
void	setVel (double velocity)
virtual void	snprint (const char *preString, char *buff, const int buffCnt)
	UPoseV ()
	UPoseV (double x, double y, double h, double v)
virtual	~UPoseV ()
Public Member Functions inherited from UPose
void	add (double dist, double headingChange)
void	add (double ix, double iy, double ih)
UMatrix4	asCol3 ()
UMatrix4	asCol4 ()
UMatrix4	asMatrix2x2MtoP ()
UMatrix4	asMatrix2x2PtoM ()
UMatrix4	asMatrix3x3MtoP ()
UMatrix4	asMatrix3x3PtoM ()
UMatrix4	asMatrix4x4MtoP ()
UMatrix4	asMatrix4x4PtoM ()
UMatrix4	asMatrix4x4PtoMPos ()
UMatrix4	asRow3 ()
UMatrix4	asRow4 ()
virtual void	clear ()
virtual const char *	codeXml (char *buf, const int bufCnt, const char *extraAttr)
virtual const char *	codeXml (const char *name, char *buf, const int bufCnt, const char *extraAttr)
void	fprint (FILE *fd, const char *prestring)
char *	getAsSml (const char *name, char *buff, int buffCnt)
double	getDistance (UPose other)
double	getDistance (UPose *other)
double	getDistance (UPosition other)
double	getDistance (UPosition *other)
double	getDistToPoseLine (const double Px, const double Py)
double	getDistToPoseLineSigned (const double Px, const double Py)
double	getHeadingDeg ()
double	getHeadingDiff (UPose other)
double	getHeadingRad ()
UPosition	getMapToPose (UPosition mapPos)
U2Dpos	getMapToPose (U2Dpos mapPos)
UPosition	getMapToPose (UPose *mapPos)
UPosition	getMapToPose (UPose mapPos)
CvPoint	getMapToPose (CvPoint mapPos)
UPose	getMapToPosePose (UPose *mapPose)
UPose	getMapToPosePose (UPose mapPose)
UPosition	getPos (double z=0.0)
UPosition	getPoseToMap (UPosition posePos)
U2Dpos	getPoseToMap (U2Dpos posePos)
UPosition	getPoseToMap (double localX, double localY)
UPosition	getPoseToMap (UPose posePos)
CvPoint	getPoseToMap (CvPoint mapPos)
UPose	getPoseToMapPose (UPose poseLocal)
UPose	getPoseToMapPose (double x, double y, double h)
UPose	neg ()
UPose	operator+ (UPose pDelta)
UPose	operator+ (UPoseV pDelta)
UPose	operator+ (UPoseTime pDelta)
UPose	operator+ (UPoseTVQ pDelta)
UPose	operator- (UPose pRef)
UPose	operator- (UPoseV pRef)
UPose	operator- (UPoseTime pRef)
UPose	operator- (UPoseTVQ pRef)
UPose	operator= (UPoseTime source)
UPose	operator= (UPoseV source)
UPose	operator= (UPoseTVQ source)
UPose	operator= (UMatrix4 mat)
void	print (char *buf, const char *prestring, int bufLng)
void	print (const char *str)
void	set (UPosition *pos, URotation *rot)
void	set (double ix, double iy, double ih)
UPose	set (UMatrix *mat)
	UPose ()
	UPose (double x, double y, double h)
	UPose (UPose *source)
	UPose (UPosition *pos, URotation *rot)
virtual	~UPose ()
Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)
virtual bool	isAlsoA (const char *typeString)
	UDataBase ()
virtual	~UDataBase ()

Public Attributes
double	vel
Public Attributes inherited from UPose
double	h
double	x
double	y

Additional Inherited Members
Protected Member Functions inherited from UPose
UPose	addCed (UPose D)
UPose	addCed (UPose *D)
void	addDeltaPose (UPose D)
void	asAddC (UPose Vbase, UPose D)
void	asNegC (UPose D)
void	asSubC (UPose Va, UPose Vbase)
void	subC (UPose *Vbase)
UPose	subCed (UPose Vbase)
UPose	subCed (UPose *Vbase)

Detailed Description

A robot pose and speed, i.e. a robot state

Author

Christian Andersen

Constructor & Destructor Documentation

UPoseV::UPoseV

(

)

Constructor

References vel.

UPoseV::UPoseV	(	double	x,
		double	y,
		double	h,
		double	v
	)

Constructor with initial value

References vel.

UPoseV::~UPoseV ( )

virtual

Destructor

Member Function Documentation

void UPoseV::fprint ( FILE *  fd, const char *  prestring  )

virtual

Print object status

References UPose::getHeadingDeg(), getVel(), UPose::h, UPose::x, and UPose::y.

Referenced by UManPPSeq::fprint(), setVel(), testManSeq(), testManSeqDeviation(), and testTurn2().

virtual const char* UPoseV::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UPose.

References operator+(), and operator-().

Referenced by UFunctionVarPool::initCallReturnStructType().

UPose UPoseV::getPose ( )

inline

Get the UPose part only

Referenced by UAvoidPath2::addStartAndExit(), and UFunctionDrivePos::handleDrivePos().

double UPoseV::getVel ( )

inline

Get velocity

References vel.

Referenced by UManPPSeq::calcEndVel(), USmlTag::codePoseV(), UResDrivePos::driveOdo(), UManSeq::expandAddManALA(), UManSeq::expandAddManLALA(), UReactivePath::findObstAvoidRoute(), fprint(), UManPPSeq::fprint(), UManoeuvre::getEndV(), UManArc::getPoseV(), UManLine::getPoseV(), UManPPSeq::getPoseV(), UResSmrCtl::getSMRCLDrive2cmd(), UFunctionDrivePos::handleDrivePos(), operator+(), UPoseTVQ::operator+(), operator-(), UPoseTVQ::operator-(), operator=(), UManPPSeq::print(), UResSmrCtl::run(), UPoseTVQ::set(), UManPPSeq::setMaxVel(), UResRoadDrive::setTarget(), snprint(), testManSeq(), testManSeqDeviation(), and testPose2Pose().

UPoseV UPoseV::operator+

(

UPoseV

pDelta

)

Add a delta pose to a base pose to get a new pose. The delta pose must be in base pose perspective. i.e. To get from a reference position P1 to a new position P2 after a movement of 'pDelta'

References UPose::addCed(), getVel(), setVel(), and vel.

Referenced by getDataType(), and operator=().

UPoseV UPoseV::operator+

(

UPose

pDelta

)

Add a delta pose to a base pose to get a new pose. The delta pose must be in base pose perspective. i.e. To get from a reference position P1 to a new position P2 after a movement of 'pDelta'

References UPose::addCed().

UPoseV UPoseV::operator-

(

UPoseV

pRef

)

Subtract 2 poses to get a delta pose from ref to base. i.e. if P1 and P2 is two poses, and deltaPose Pd = P2 - P1, then P2 is at position Pd in local P1 coordinates, and P2 = P1 + Pd. Velocity (vel) is difference in velovity P2.vel - P1.vel.

References getVel(), setVel(), UPose::subCed(), and vel.

Referenced by getDataType().

UPoseV UPoseV::operator= ( UPose  source )

inline

Assign from base pose

References UPose::h, UPose::x, and UPose::y.

UPoseV UPoseV::operator= ( UPoseV  source )

inline

Assign from base pose

References getVel(), UPose::h, operator+(), vel, UPose::x, and UPose::y.

void UPoseV::print ( const char *  prestring, char *  buff, const int  buffCnt  )

inline

Print tatus to string. Deprecated call format - use snprint(...)

References snprint().

Referenced by UManSeq::expandManDriveon(), UManPPSeq::print(), and testDriveonEst().

void UPoseV::print ( const char *  prestring )

inline

Print tatus to string

References snprint().

void UPoseV::set ( double  ix, double  iy, double  ih, double  iv  )

inline

Set all variables from doubles

References vel.

Referenced by UResAvoid::findPathToHere(), UResDrivePos::getCurrentPose(), UManLine::getSMRCLcmd2(), UResSmrCtl::getSMRCLDrive2cmd(), UAvoidPathPool::getStartPoseVel(), UFunctionDrivePos::handleDrivePos(), UFunctionAvoid::handlePoseToPose(), UResDrivePos::methodCall(), UResSmrCtl::sendNewManoeuvreToSMR(), and testDriveonEst().

void UPoseV::set ( UPose  pose, double  iv  )

inline

Set all variables from pose and velocity

References vel.

void UPoseV::setVel ( double  velocity )

inline

Set velocity

References fprint(), and vel.

Referenced by UReactivePath::avoidObst(), UResDrivePos::driveOdo(), UManSeq::expandAddManALA(), UManSeq::expandAddManLALA(), UManLine::getEndPoseV(), UManArc::getEndPoseV(), UManSeq::getEndPoseV(), USmlTag::getPoseV(), UFunctionDrivePos::handleDrivePos(), UFunctionAvoid::handlePoseToPose(), operator+(), operator-(), UManSeq::replaceMan(), UManSeq::replaceManDriveon(), UManPPSeq::setMaxVel(), testManSeq(), testManSeqDeviation(), and testPose2Pose().

void UPoseV::snprint ( const char *  preString, char *  buff, const int  buffCnt  )

virtual

Print status for this structure

Reimplemented from UPose.

References UPose::getHeadingDeg(), getVel(), UPose::h, UPose::x, and UPose::y.

Referenced by print().

Member Data Documentation

double UPoseV::vel

Actual velocity. velocity may be negative for reverse speed.

Referenced by UManSeq::expandManDriveon(), UAvoidPath2::extendManoeuvre(), UPose2pose::get22arcLeft(), UPose2pose::get2LeftLineLeft(), UPose2pose::get2LeftLineRight(), UPose2pose::get2RightLineLeft(), UPose2pose::get2RightLineRight(), UPose2pose::get2ViaBreakLeftLineLeft(), UPose2pose::get2ViaBreakLeftLineRight(), UPose2pose::get2ViaBreakRightLineLeft(), UPose2pose::get2ViaBreakRightLineRight(), UManLine::getSMRCLcmd2(), UManArc::getSMRCLcmd2(), UResSmrCtl::getSMRCLDrive2cmd(), getVel(), operator+(), operator-(), operator=(), UResSmrCtl::sendNewManoeuvreToSMR(), set(), setVel(), and UPoseV().

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

• uposev.h
• uposev.cpp