UFeaturePool Class Reference

#include <ufeaturepool.h>

Inheritance diagram for UFeaturePool:

Public Member Functions
bool	addData (UFeatureData *data)
void	clear ()
UFeatureData *	getScan (int age)
int	getScansCnt ()
int	getScansMax ()
UPosRot	getSensorPose ()
bool	gotSensorPose ()
void	markAsNotNew (const char *dataType)
void	setSensorPose (UPosRot value)
	UFeaturePool ()
	~UFeaturePool ()
Public Member Functions inherited from UOnEvent
bool	addEventHandler (UCallBack *object, Method methodToCall)
bool	event (const char *interface, const char *dataType, void *dataPtr)
	UOnEvent ()
	~UOnEvent ()

Protected Attributes
UPosRot	defaultSensorPose
bool	defaultSensorPoseOK
int	newest
UFeatureData	scans [MAX_SEGMENT_SCANS]
int	scansCnt
Protected Attributes inherited from UOnEvent
Method	method [MAX_CALL_BACKS]
UCallBack *	obj [MAX_CALL_BACKS]
int	objCnt

Static Protected Attributes
static const int	MAX_SEGMENT_SCANS = 400
Static Protected Attributes inherited from UOnEvent
static const int	MAX_CALL_BACKS = 20

Additional Inherited Members
Public Types inherited from UOnEvent
typedef bool(UCallBack::*	Method) (const char *interface, const char *dataType, void *data)

Detailed Description

Holds history of scanfeatures

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

UFeaturePool::UFeaturePool

(

)

Constructor

UFeaturePool::~UFeaturePool

(

)

Destructor

Member Function Documentation

bool UFeaturePool::addData

(

UFeatureData *

data

)

Add a new set of data to the pool

References UFeatureData::addSegment(), UFeatureData::clear(), UFeatureData::getTypeMax(), UFeatureData::isNewest, ULock::lock(), maxi(), UFeatureData::pose, UFeatureData::scanTime, UFeatureData::segs, UFeatureData::segsCnt, UFeatureData::segsInt, UFeatureData::segsStr, UFeatureData::segsValue, UFeatureData::type, ULock::unlock(), and UFeatureData::valid.

Referenced by UResLaserIfSf::handlePass(), UResLaserIfSf::handleRoad(), and UResLaserIfSf::handleSF().

void UFeaturePool::clear

(

void

)

Remove all data

References UFeatureData::clear().

Referenced by UResLaserIfSf::clear().

UFeatureData * UFeaturePool::getScan

(

int

age

)

Get pointer to scan

Referenced by UNavPaint::paintFeatures(), and UNavView::paintFeatures().

int UFeaturePool::getScansCnt ( )

inline

Get max number of scans in pool

Referenced by UFunctionLaserIfData::handleLaserIf(), UResLaserIfSf::handlePass(), UResLaserIfSf::handleRoad(), UResLaserIfSf::handleSF(), UNavPaint::paintFeatures(), UNavView::paintFeatures(), and UResLaserIfSf::snprint().

int UFeaturePool::getScansMax ( )

inline

Get max number of scans in pool

UPosRot UFeaturePool::getSensorPose ( )

inline

Get the default sensor pose - used to convert sensor positions to robot coordinates

Referenced by UResLaserIfSf::handlePass(), and UResLaserIfSf::handleSF().

bool UFeaturePool::gotSensorPose ( )

inline

Is default sensor pose set from a laser scanner message

Referenced by UResLaserIfSf::handlePass(), and UResLaserIfSf::handleSF().

void UFeaturePool::markAsNotNew

(

const char *

dataType

)

Mark all entries of this type as not new, until an enty is found that is not new already.

References UFeatureData::isA(), and UFeatureData::isNewest.

void UFeaturePool::setSensorPose ( UPosRot  value )

inline

Set default sensor pose - used to convert sensor positions to robot coordinates

Referenced by UResLaserIfSf::handlePass(), and UResLaserIfSf::handleSF().

Member Data Documentation

UPosRot UFeaturePool::defaultSensorPose

protected

Default laser scanner posr - if not included in sensor data set

bool UFeaturePool::defaultSensorPoseOK

protected

Is default sensor pose set

const int UFeaturePool::MAX_SEGMENT_SCANS = 400

staticprotected

Max number of segment scans

int UFeaturePool::newest

protected

Newest scan index

UFeatureData UFeaturePool::scans[MAX_SEGMENT_SCANS]

protected

Segments

int UFeaturePool::scansCnt

protected

Number of received scans

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

• ufeaturepool.h
• ufeaturepool.cpp