#include <uposehist.h>

Inheritance diagram for UPoseHistNotUsed:

Public Member Functions
bool	addIfNeeded (UPoseTime pose, double velocity)

void	addPoseHist (UPoseTime poseAtTime)

void	addPoseHist (UPose pose, UTime atTime)

void	clear ()

double	getHistHeading (double closeBy, double farAway, const UPoseTime ref, double histAge)

double	getMinDist ()

double	getMinTheta ()

double	getMinTime ()

UPoseTime	getNewest (double *velocity)

UPoseTime	getOldest ()

UTime	getOldestTime ()

UPoseTime	getPose (int index)

UPose	getPoseAtTime (UTime)

double	getPoseFitAtDistance (double closeBy, double farAway, const UPose ref, UPoseTime closeFitPose)

bool	getPoseNearDistance (const double away, const UPose ref, UPoseTime closer, UPoseTime *moreDistant)

bool	getPoseNearTime (UTime atTime, UPoseTime justBefore, UPoseTime justAfter)

int	getPosesCnt ()

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

const char *	getReplaySubdir ()

UTime	getReplayTimeNext ()

UTime	getReplayTimeNow ()

UTime	getTimeAtDistance (double away)

bool	isReplay ()

bool	isReplayFileOpen ()

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

bool	replayStep (int steps)

bool	replayTime (UTime untilTime)

void	saveToLog (FILE *logf)

void	setMinDist (double value)

void	setMinTheta (double value)

void	setMinTime (double value)

bool	setReplay (bool value)

void	setReplaySubdir (const char *subdir)

	UPoseHistNotUsed ()

	~UPoseHistNotUsed ()

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 ()

virtual bool	gotAllResources (char *, int)

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 bool	setResource (UResBase *, bool)

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)

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 ()

Static Public Member Functions
static const char *	getResID ()

static int	getResVersion ()

Protected Member Functions
bool	replayStep ()

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Private Attributes
double	minDistChange

double	minHeadingChange

double	minTimeChange

int	newest

UPoseTime	poseNew

UPoseTime	poses [MAX_HIST_POSES]

int	posesCnt

bool	replay

FILE *	replayFile

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

char	replaySubPath [MAX_SUBPATH_LENGTH]

UTime	replayTimeNext

UTime	replayTimeNow

double	speed

Static Private Attributes
static const int	MAX_LOG_LINE_LENGTH = 200

static const int	MAX_SUBPATH_LENGTH = 100

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

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 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...

Detailed Description

Class to hold some 50 meter of pose history for drive calculations

Author: Christian Andersen

Constructor & Destructor Documentation

UPoseHistNotUsed::UPoseHistNotUsed ( )

Constructor

References getResID(), getResVersion(), MAX_SUBPATH_LENGTH, minDistChange, minHeadingChange, minTimeChange, newest, posesCnt, replay, replayFile, replayLine, replayLogLine, replaySubPath, UResBase::resVersion, and UResBase::setResID().

UPoseHistNotUsed::~UPoseHistNotUsed ( )

Constructor

Member Function Documentation

bool UPoseHistNotUsed::addIfNeeded	(	UPoseTime	pose,
		double	velocity
	)

Add this pose to the pose history - if needed, i.e. distance or heading change is above a limit. Returns true if position is added to history poses.

References absf(), addPoseHist(), UPose::getDistance(), UPose::getHeadingDiff(), getPose(), UTime::getSec(), minDistChange, minHeadingChange, minTimeChange, poseNew, posesCnt, speed, and UPoseTime::t.

Referenced by getResVersion(), and replayStep().

void UPoseHistNotUsed::addPoseHist ( UPoseTime poseAtTime )

Add a history pose (in cronological order)

References ULock::lock(), MAX_HIST_POSES, newest, poseNew, poses, posesCnt, and ULock::unlock().

Referenced by addIfNeeded(), addPoseHist(), and getResVersion().

void UPoseHistNotUsed::addPoseHist	(	UPose	pose,
		UTime	atTime
	)

Add a history pose (in cronological order)

References addPoseHist().

void UPoseHistNotUsed::clear ( void )

Clear current pose history

References newest, and posesCnt.

Referenced by getResVersion(), and setReplay().

double UPoseHistNotUsed::getHistHeading	(	double	closeBy,
		double	farAway,
		const UPoseTime *	ref,
		double *	histAge
	)

Get heading over a distance in pose history from 'closeBy' to 'farAway' (in meters) relative to the 'ref' pose. Returns the general heading over this distance (in radians). If 'histAge' != NULL, then the age of the last

References UPose::h, ULock::lock(), newest, poses, posesCnt, UPoseTime::t, ULock::unlock(), UPose::x, and UPose::y.

Referenced by getPosesCnt().

double UPoseHistNotUsed::getMinDist ( )

inline

Get minimum distance required to store a pose history pose

References minDistChange.

double UPoseHistNotUsed::getMinTheta ( )

inline

Get minimum distance required to store a pose history pose

References minHeadingChange.

double UPoseHistNotUsed::getMinTime ( )

inline

Get minimum distance required to store a pose history pose

References minTimeChange.

UPoseTime UPoseHistNotUsed::getNewest ( double * velocity )

inline

Get newest stored position. If storage is empty time is zero.

References getOldestTime(), getPoseNearTime(), poseNew, and speed.

UPoseTime UPoseHistNotUsed::getOldest ( )

Get time of oldest data

References ULock::lock(), MAX_HIST_POSES, newest, poses, posesCnt, and ULock::unlock().

Referenced by getOldestTime(), and getResVersion().

UTime UPoseHistNotUsed::getOldestTime ( )

Get Oldest supportet time

References getOldest(), UTime::Now(), posesCnt, and UPoseTime::t.

Referenced by getNewest().

UPoseTime UPoseHistNotUsed::getPose ( int index )

Get a history pose by index from the newest and back - NB! unsafe (if not locked), as element at index may have changed - no lock using this function. (Relative safe for all the newer poses, but especially the older ones may be overwritten.)

References MAX_HIST_POSES, newest, and poses.

Referenced by addIfNeeded(), getPosesCnt(), and saveToLog().

UPose UPoseHistNotUsed::getPoseAtTime ( UTime atTime )

Get the nearest pose at this time

References UPoseTime::getPose(), UPoseTime::getPoseAtTime(), getPoseNearTime(), and UPoseTime::t.

Referenced by getResVersion().

double UPoseHistNotUsed::getPoseFitAtDistance	(	double	closeBy,
		double	farAway,
		const UPose *	ref,
		UPoseTime *	closeFitPose
	)

Get Bet fit line from this distance interval. Return the fit variance, but negative (-1.0) if no result. Returns the close position, adjusted to the fittet line.

References U2Dline::fit(), U2Dline::getOnLine(), ULock::lock(), newest, poses, posesCnt, UPose::set(), ULock::unlock(), UPose::x, and UPose::y.

Referenced by getPosesCnt().

bool UPoseHistNotUsed::getPoseNearDistance	(	const double	away,
		const UPose *	ref,
		UPoseTime *	closer,
		UPoseTime *	moreDistant
	)

Get the two nearest poses this distance away from the reference position 'ref'.

References ULock::lock(), newest, poses, posesCnt, ULock::unlock(), UPose::x, and UPose::y.

Referenced by getPosesCnt(), and getTimeAtDistance().

bool UPoseHistNotUsed::getPoseNearTime	(	UTime	atTime,
		UPoseTime *	justBefore,
		UPoseTime *	justAfter
	)

Get the two nearst poses to time

References UTime::getMicrosec(), UTime::getSec(), ULock::lock(), newest, poseNew, poses, posesCnt, UPoseTime::t, and ULock::unlock().

Referenced by getNewest(), and getPoseAtTime().

int UPoseHistNotUsed::getPosesCnt ( )

inline

Get number of poses in pose history

References getHistHeading(), getPose(), getPoseFitAtDistance(), getPoseNearDistance(), getTimeAtDistance(), posesCnt, print(), and saveToLog().

char * UPoseHistNotUsed::getReplayFileName	(	char *	fn,
		const int	fnCnt
	)

Get the full replay logfile name. Returns pointer fn[] string.

References imagePath, and replaySubPath.

Referenced by getReplayLogLine(), and setReplay().

int UPoseHistNotUsed::getReplayLogLine ( )

inline

Get current line number in replay logfile

References getReplayFileName(), replayLogLine, replayStep(), and replayTime().

const char* UPoseHistNotUsed::getReplaySubdir ( )

inline

Get pointer to replay subdir

References replaySubPath.

UTime UPoseHistNotUsed::getReplayTimeNext ( )

inline

Get replat time next

References replayTimeNext.

UTime UPoseHistNotUsed::getReplayTimeNow ( )

inline

Get replat time now

References replayTimeNow.

static const char* UPoseHistNotUsed::getResID ( )

inlinestatic

Fixed name of this resource type

Referenced by UPoseHistNotUsed().

static int UPoseHistNotUsed::getResVersion ( )

inlinestatic

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.

References addIfNeeded(), addPoseHist(), clear(), getOldest(), and getPoseAtTime().

Referenced by UPoseHistNotUsed().

UTime UPoseHistNotUsed::getTimeAtDistance ( double away )

Get time, when robot were (at least) this distance from newest position. If a pose at this distance is not in buffer, then the returned tme is zero.

References getPoseNearDistance(), ULock::lock(), newest, poses, posesCnt, UTime::setTime(), UPoseTime::t, and ULock::unlock().

Referenced by getPosesCnt().

bool UPoseHistNotUsed::isReplay ( )

inline

Get replay flag

References replay.

bool UPoseHistNotUsed::isReplayFileOpen ( )

inline

is replay file open

References replayFile.

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

virtual

Print the (short) status of resource - to a string buffer

Reimplemented from UResBase.

References posesCnt.

Referenced by getPosesCnt().

bool UPoseHistNotUsed::replayStep ( int steps )

Replay N singles from the logfile. Returns true if N steps available.

References replayStep().

bool UPoseHistNotUsed::replayStep ( )

protectedvirtual

Replay a single step from the logfile. Returns true if EOF not found.

Reimplemented from UReplay.

References addIfNeeded(), UPose::h, MAX_LOG_LINE_LENGTH, replay, replayFile, replayLine, replayLogLine, replayTimeNext, replayTimeNow, UTime::setTimeTod(), UPoseTime::t, UTime::valid, UPose::x, and UPose::y.

Referenced by getReplayLogLine(), replayStep(), and replayTime().

bool UPoseHistNotUsed::replayTime ( UTime untilTime )

Replay until just before this time

References replayStep(), and replayTimeNext.

Referenced by getReplayLogLine().

void UPoseHistNotUsed::saveToLog ( FILE * logf )

Save pose history to logfile

References UTime::getMicrosec(), getPose(), UTime::getSec(), UPose::h, poseNew, posesCnt, UPoseTime::t, UPose::x, and UPose::y.

Referenced by getPosesCnt().

void UPoseHistNotUsed::setMinDist ( double value )

inline

Set minimum distance required to store a pose history pose

References minDistChange.

void UPoseHistNotUsed::setMinTheta ( double value )

inline

Set minimum distance required to store a pose history pose

References minHeadingChange.

void UPoseHistNotUsed::setMinTime ( double value )

inline

Set minimum distance required to store a pose history pose

References minTimeChange, setReplay(), and setReplaySubdir().

bool UPoseHistNotUsed::setReplay ( bool value )

Set replay flag. If replay flag is changed to true, the logfile (odo.log) is attempted opened. If successfull, the current pose history is cleared and the first record read and implemented. If not successfull, the replay flag is set to true, and the pose history is cleared only. Returns true if replay file is opened

References clear(), getReplayFileName(), MAX_LOG_LINE_LENGTH, replay, replayFile, replayLine, replayLogLine, replayTimeNext, UTime::setTimeTod(), and UTime::valid.

Referenced by setMinTime().

void UPoseHistNotUsed::setReplaySubdir ( const char * subdir )

Set replay subdir. Sets the value to the subdir buffer, but nothing else is changed.

References MAX_PATH_LENGTH, and replaySubPath.

Referenced by setMinTime().