UMapObj Class Reference

#include <umapobj.h>

Public Member Functions
list< UMapRel * >::iterator	beginRel ()
void	clear ()
bool	compareSerial (UMapObj bigger)
bool	compareSerial (UMapObj smaller, UMapObj bigger)
bool	copy (UMapObj *source)
list< UMapRel * >::iterator	endRel ()
UMapObj *	get ()
UMap3dPos *	get3d ()
int	getEstUpdates ()
UMapGmk *	getGmk ()
UPose	getPose ()
UPoseQ	getPoseQ ()
UPose *	getpPose ()
UPoseQ *	getpPoseQ ()
UMapRobot *	getRobot ()
UMapSegment *	getSegment ()
unsigned long	getSerial ()
mapObjType	getType ()
UTime	getUpdTime ()
void	linkAdd (UMapRel *constraint)
bool	load (Uxml3D *fxmap)
void	moveTo (double x, double y)
bool	save (Uxml3D *fmap)
void	saveHist ()
bool	set3d (UMap3dPos *source)
bool	set3dPos (UPosition pos, UMatrix4 *posQ=NULL, URotation *ori=NULL, UMatrix4 *oriQ=NULL)
void	setErrorValuesB (float distSD, float B, bool reset)
void	setEstPose (double x, double y, double h)
void	setEstPoseQ (double x, double y, double h, UMatrix4 *zQ=NULL)
bool	setGmk (unsigned long ID, float blockSize, int frameSize)
bool	setGmk (UMapGmk *source)
bool	setInitialGmk (UMapObj *robot, UMapZGmk *measured)
bool	setInitialPose ()
bool	setInitialPose (UPose zPose, UMatrix4 *zQ, UTime atTime)
void	setParent (UMapSegment *parentSegment)
void	setPose (UPoseQ *source)
bool	setRobot (unsigned long ID, float wheelBase, float distSD, double odoX, double odoY, double odoTheta)
bool	setRobot (UMapRobot *source)
bool	setSegment (UMapObj *parentObj, unsigned long segID, char *name)
void	setSerial (unsigned int value)
void	setType (mapObjType typ)
void	setUpdTime (UTime t)
void	show (const char *prestring)
UTime *	time ()
const char *	typeAsString ()
	UMapObj (UMapSegment *parentSegment)
bool	unlink (UMapRel *rel)
void	updateOdo (double x, double y, double theta, UTime t, bool testReset)
	~UMapObj ()

Static Public Member Functions
static const char *	typeAsString (mapObjType typ)
static mapObjType	typeFromString (const char *typs)

Public Attributes
UPose	histPose [MAX_POSE_HISTORY]
int	histPoseCnt

Protected Attributes
UPoseQ *	estPose
int	estUpds
list< UMapRel * >	mapRelations
UMapSegment *	parent
unsigned long	serial
UMap3dPos *	to3d
UMapGmk *	toGmk
UMapRobot *	toRob
UMapSegment *	toSeg
mapObjType	type
UTime	updTime

Detailed Description

Map object

Author

Christian Andersen

Constructor & Destructor Documentation

UMapObj::UMapObj

(

UMapSegment *

parentSegment

)

Constructor

UMapObj::~UMapObj

(

)

Constructor from known pose and measurement error Constructor from known pose details and measurement error Destructor

Member Function Documentation

list<UMapRel *>::iterator UMapObj::beginRel ( )

inline

Get first relation pointer (as iterator)

References mapRelations.

void UMapObj::clear

(

)

Reset object position

bool UMapObj::compareSerial ( UMapObj  bigger )

inline

Compare two elements for sorting

References serial.

Referenced by compareSerial().

bool UMapObj::compareSerial ( UMapObj  smaller, UMapObj  bigger  )

inline

Compare two elements for sorting

References compareSerial(), moveTo(), saveHist(), setErrorValuesB(), show(), and updateOdo().

bool UMapObj::copy

(

UMapObj *

source

)

Set content of this object as a copy from the source, except for parent and ID. If source do not contain a sub-elements then that existing sub-elements will be maintained. NB! any relation relations in source or destination will be ignored (left as is). Returns true if successful. Fails if object is a segment or if needed sub-objects could not be created.

list<UMapRel *>::iterator UMapObj::endRel ( )

inline

Get last (end) relation pointer (as iterator)

References mapRelations.

UMapObj* UMapObj::get ( )

inline

Get pointer to this

UMap3dPos* UMapObj::get3d ( )

inline

get estimated orientation

References to3d.

int UMapObj::getEstUpdates ( )

inline

Get number of updates for this object.

References estUpds.

UMapGmk* UMapObj::getGmk ( )

inline

Get reference to guidemark info (read only)

References toGmk.

UPose UMapObj::getPose ( )

inline

get estimated position

References estPose, and UPoseQ::getPose().

UPoseQ UMapObj::getPoseQ ( )

inline

get pointer to estimated position block.

References estPose.

UPose* UMapObj::getpPose ( )

inline

get pointer to estimated position.

References estPose, and UPoseQ::getpPose().

UPoseQ* UMapObj::getpPoseQ ( )

inline

get pointer to estimated position block.

References estPose.

UMapRobot* UMapObj::getRobot ( )

inline

Get reference to last robot info (read only)

References toRob.

UMapSegment* UMapObj::getSegment ( )

inline

Get reference to guidemark info (read only)

References toSeg.

unsigned long UMapObj::getSerial ( )

inline

Get serial number

References serial.

mapObjType UMapObj::getType ( )

inline

Get type of object.

References type.

UTime UMapObj::getUpdTime ( )

inline

Get last update tile as UTime type.

References updTime.

void UMapObj::linkAdd

(

UMapRel *

constraint

)

Add a link to a relation

Referenced by setType().

bool UMapObj::load

(

Uxml3D *

fxmap

)

Load an object from this xml-class. Returns true if read correctly (legally).

Referenced by setType().

void UMapObj::moveTo	(	double	x,
		double	y
	)

Just move position - and leave the rest as is

Referenced by compareSerial().

bool UMapObj::save

(

Uxml3D *

fmap

)

Save map object data to file in html-like format. returnes true if saved.

Referenced by setType().

void UMapObj::saveHist

(

)

Save pose history

Referenced by compareSerial().

bool UMapObj::set3d

(

UMap3dPos *

source

)

Set 3d position object information as a copy of source.

bool UMapObj::set3dPos	(	UPosition	pos,
		UMatrix4 *	posQ = NULL,
		URotation *	ori = NULL,
		UMatrix4 *	oriQ = NULL
	)

Set - make if needed - object 3D position, with optional orientation and (block) covariance matrix for position and orientation separately. If covariance is set to NULL, then matrix is filled with 10.0 in main diaginal for position and orientation (~3pi).

void UMapObj::setErrorValuesB	(	float	distSD,
		float	B,
		bool	reset
	)

Set as robot object and set error values to provided. If reset, then odometer values are reset at next update. Set as robot object and set error values to provided. Heading SD is calculated from wheel separation B. If reset, then odometer values are reset at next update.

Referenced by compareSerial().

void UMapObj::setEstPose	(	double	x,
		double	y,
		double	h
	)

void UMapObj::setEstPoseQ	(	double	x,
		double	y,
		double	h,
		UMatrix4 *	zQ = NULL
	)

Create (if needed) estimated pose (with covariance) and set to provided parameters. If covariance is NULL, then covariance set to unit matrix.

bool UMapObj::setGmk	(	unsigned long	ID,
		float	blockSize,
		int	frameSize
	)

Set guidemark information

bool UMapObj::setGmk

(

UMapGmk *

source

)

Set guidemark information

bool UMapObj::setInitialGmk	(	UMapObj *	robot,
		UMapZGmk *	measured
	)

Set object as guidemark from this first measurement

bool UMapObj::setInitialPose

(

)

Update this measurement to absolute zero with zero covariance

bool UMapObj::setInitialPose	(	UPose	zPose,
		UMatrix4 *	zQ,
		UTime	atTime
	)

Update with this measurement as position only object

void UMapObj::setParent ( UMapSegment *  parentSegment )

inline

Set relation to parent map segment. This should not be needed, as new objects should be created using add(), that assigne ID and parent relation itself

References parent, and setPose().

void UMapObj::setPose

(

UPoseQ *

source

)

Set estimated pose and covariance from this value

Referenced by setParent().

bool UMapObj::setRobot	(	unsigned long	ID,
		float	wheelBase,
		float	distSD,
		double	odoX,
		double	odoY,
		double	odoTheta
	)

Set - make if needed - robot object with the following parameters.

bool UMapObj::setRobot

(

UMapRobot *

source

)

Set robot inf as copy from source

bool UMapObj::setSegment	(	UMapObj *	parentObj,
		unsigned long	segID,
		char *	name
	)

Set object as new local map. Parent must not be NULL and name must be usable as filename (extension will be added on save).

void UMapObj::setSerial ( unsigned int  value )

inline

Set serial number

References serial.

void UMapObj::setType ( mapObjType  typ )

inline

Set object type

References linkAdd(), load(), save(), type, typeAsString(), typeFromString(), and unlink().

void UMapObj::setUpdTime ( UTime  t )

inline

Set serial number

References updTime.

void UMapObj::show

(

const char *

prestring

)

Print to console

Referenced by compareSerial().

UTime* UMapObj::time ( )

inline

Get pointer to update time

References updTime.

const char* UMapObj::typeAsString

(

)

Get type of this object as string

Referenced by setType().

static const char* UMapObj::typeAsString ( mapObjType  typ )

static

Get the provided object type as string

static mapObjType UMapObj::typeFromString ( const char *  typs )

static

Convert string to object type, the string must be the one set by typeAsString()

Referenced by setType().

bool UMapObj::unlink

(

UMapRel *

rel

)

Unlink the provided relation from the list of relations. This is normally called from the relation object, when a relation is removed or eliminated.

Referenced by setType().

void UMapObj::updateOdo	(	double	x,
		double	y,
		double	theta,
		UTime	t,
		bool	testReset
	)

Update object with new robot measurement data. Returns true if the update seems valid, i.e. Reset flag is not set. Time since last update is less than 10 seconds, Heading change is less than o.5 radians, Distance traveled is less than 1 meter. Update robot with this new odometer position

Referenced by compareSerial().

Member Data Documentation

UPoseQ* UMapObj::estPose

protected

Base position estimate of this object

Referenced by getPose(), getPoseQ(), getpPose(), and getpPoseQ().

int UMapObj::estUpds

protected

Number of updates

Referenced by getEstUpdates().

UPose UMapObj::histPose[MAX_POSE_HISTORY]

Pose history

int UMapObj::histPoseCnt

Used history points

list<UMapRel *> UMapObj::mapRelations

protected

List of relation constraints to other objects.

Referenced by beginRel(), and endRel().

UMapSegment* UMapObj::parent

protected

Parent segment

Referenced by setParent().

unsigned long UMapObj::serial

protected

Object serial number

Referenced by compareSerial(), getSerial(), and setSerial().

UMap3dPos* UMapObj::to3d

protected

3D position supplement to map position

Referenced by get3d().

UMapGmk* UMapObj::toGmk

protected

Object type details, this could be guidemark, correlation detaild, object type estimatein etc.

Referenced by getGmk().

UMapRobot* UMapObj::toRob

protected

Object type details for moving robot with odometry information

Referenced by getRobot().

UMapSegment* UMapObj::toSeg

protected

Map segment (local map)

Referenced by getSegment().

mapObjType UMapObj::type

protected

Object type marker

Referenced by getType(), and setType().

UTime UMapObj::updTime

protected

Time of last update

Referenced by getUpdTime(), setUpdTime(), and time().

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

• umapobj.h