UNamedBoxes Class Reference

Public Member Functions
UNamedBox *	addBox (const char *name, double x1, double y1, double x2, double y2)
	add or modify a abox More...
void	createGlobalVariables (UVarPool *vp)
	create global variables More...
int	doDetect (ULaserData *data, bool noPoly, ULaserDevice *lasDev, int polySys)
int	findNamedBox (const char *name)
	find named box index More...
	UNamedBoxes ()
	constructor More...

Public Attributes
UNamedBox	boxes [MAX_BOXES]
	the boxes More...
int	boxesCnt
	number of used boxes More...
UVarPool *	parentStruct
	pointer to the plugin structure for global variables More...
UResPoseHist *	phMap
	pose history for map coordinates More...
UResPoseHist *	phOdo
	pose history for odometry More...
UResPoseHist *	phUtm
	pose history for GPS (UTM) More...
UVariable *	varBoxesCnt
	count of detection boxes More...
UVariable *	varDetectCnt
	count of detection attempts More...
UVariable *	varDetections
	detections in each box More...
UVariable *	varDetectTime
	last detection time More...

Static Public Attributes
static const int	MAX_BOXES = 30

Detailed Description

Class with detection boxes

Constructor & Destructor Documentation

UNamedBoxes::UNamedBoxes ( )

inline

constructor

Member Function Documentation

UNamedBox* UNamedBoxes::addBox ( const char *  name, double  x1, double  y1, double  x2, double  y2  )

inline

add or modify a abox

References UVarPool::addStructLocal(), UNamedBox::area, UPose::asMatrix4x4PtoMPos(), UNamedBox::createGlobalVariables(), UResPoseHist::getNewest(), UNamedBox::setBox(), and UVariable::setInt().

Referenced by UFuncLaserBox::handleCommand().

void UNamedBoxes::createGlobalVariables ( UVarPool *  vp )

inline

create global variables

References UVarPool::addVar().

Referenced by UFuncLaserBox::createResources().

int UNamedBoxes::doDetect ( ULaserData *  data, bool  noPoly, ULaserDevice *  lasDev, int  polySys  )

inline

test if there are detections within boxex for this scan

Parameters

data	is structure with laser data
noPoly	if true, then no polygons are constructed from detections inside box
lasDev	is pointer to source device (with position of laser scanner)

Returns

number of boxes with detections

References UVariable::add(), UPose::asMatrix4x4PtoMPos(), UNamedBox::clearPoly(), UNamedBox::doDetect(), ULaserDevice::getDevicePose(), UVariable::getInt(), UPosRot::getMtoRMatrix(), UResPoseHist::getPoseAtTime(), UPosRot::getRtoMMatrix(), ULaserData::getScanTime(), ULock::lock(), UNamedBox::parentStruct, UVariable::setInt(), UVariable::setTime(), ULock::unlock(), and UNamedBox::varCooSys.

Referenced by UFuncLaserBox::handleCommand().

int UNamedBoxes::findNamedBox ( const char *  name )

inline

find named box index

References UVariable::getString(), and UNamedBox::varName.

Member Data Documentation

UNamedBox UNamedBoxes::boxes[MAX_BOXES]

the boxes

Referenced by UFuncLaserBox::handleCommand().

int UNamedBoxes::boxesCnt

number of used boxes

Referenced by UFuncLaserBox::handleCommand().

const int UNamedBoxes::MAX_BOXES = 30

static

UVarPool* UNamedBoxes::parentStruct

pointer to the plugin structure for global variables

UResPoseHist* UNamedBoxes::phMap

pose history for map coordinates

Referenced by UFuncLaserBox::setResource().

UResPoseHist* UNamedBoxes::phOdo

pose history for odometry

Referenced by UFuncLaserBox::setResource().

UResPoseHist* UNamedBoxes::phUtm

pose history for GPS (UTM)

Referenced by UFuncLaserBox::setResource().

UVariable* UNamedBoxes::varBoxesCnt

count of detection boxes

UVariable* UNamedBoxes::varDetectCnt

count of detection attempts

UVariable* UNamedBoxes::varDetections

detections in each box

UVariable* UNamedBoxes::varDetectTime

last detection time

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

• ufunclaserbox.cpp