URoadLine Class Reference

#include <uroadline.h>

Public Member Functions
void	clear (int edge)
double	getDistanceSD (UPosition *pos)
double	getEstSD ()
double	getEstVar ()
ULineSegment *	getLine ()
unsigned long	getLineSerial ()
int	getLineType ()
int	getPisIdx ()
UPoseTime	getPose ()
double	getQual ()
unsigned long	getScanSerial ()
int	getUpdateCnt ()
bool	isA (int lineType)
bool	isValid ()
void	postUpdate (unsigned int scan, UPoseTime *pose, bool moving)
void	setNew (UPosition pos, UPoseTime pose, unsigned long scan, int piIdx, unsigned long roadSerial)
void	update (UPosition pos, UPoseTime pose, unsigned long scan, bool moving, int piIdx)
	URoadLine ()
	~URoadLine ()

Public Attributes
int	pisIdx

Protected Attributes
int	edge
ULineSegment	line
unsigned long	lineSerial
UPoseTime	odoPose
double	pL
double	pR
unsigned long	scanSerial
int	updateCnt
bool	valid
double	xR

Detailed Description

Holds information on one road line

    @author Christian <chrand@mail.dk>

Constructor & Destructor Documentation

URoadLine::URoadLine

(

)

Constructor

References clear().

URoadLine::~URoadLine

(

)

Destructor

Member Function Documentation

void URoadLine::clear

(

int

edge

)

Reset line filter

References edge, lineSerial, pL, pR, scanSerial, sqr(), updateCnt, valid, and xR.

Referenced by UResRoadLine::update(), and URoadLine().

double URoadLine::getDistanceSD

(

UPosition *

pos

)

Get distance to this position in number of SDs

References ULine::getDistanceSq(), line, and xR.

Referenced by getLineType().

double URoadLine::getEstSD ( )

inline

Get line quality (1 is pefect)

References pL.

Referenced by UResRoadLine::updateRoadVariables().

double URoadLine::getEstVar ( )

inline

Get estimated line SD

References xR.

Referenced by UResRoadLine::update().

ULineSegment* URoadLine::getLine ( )

inline

Get estimated road line as sine segment

References line.

Referenced by UResRoadLine::findCurrentRoad(), UResRoadLine::findCurrentRoad2(), UFunctionPassable::sendRoadLines(), URoad::setRoadQ(), UResRoadLine::update(), and UResRoadLine::updateRoadVariables().

unsigned long URoadLine::getLineSerial ( )

inline

Get scan serial number

References lineSerial, scan, setNew(), and update().

Referenced by UFunctionPassable::sendRoadLines().

int URoadLine::getLineType ( )

inline

Is line a left (0), centre (1) or right line (2)

References edge, and getDistanceSD().

Referenced by UResRoadLine::findCurrentRoad(), UFunctionPassable::sendRoadLines(), and UResRoadLine::update().

int URoadLine::getPisIdx ( )

inline

Get number of updates for line

Referenced by URoad::setRoadQ().

UPoseTime URoadLine::getPose ( )

inline

Get pose at last update

References odoPose, and postUpdate().

double URoadLine::getQual ( )

inline

Get line quality (1 is pefect)

References mini(), pL, and updateCnt.

Referenced by UResRoadLine::findCurrentRoad(), UFunctionPassable::sendRoadLines(), URoad::setRoadQ(), and UResRoadLine::updateRoadVariables().

unsigned long URoadLine::getScanSerial ( )

inline

Get scan serial number

References scanSerial.

Referenced by UFunctionPassable::sendRoadLines(), UResRoadLine::update(), and UResRoadLine::updateRoadVariables().

int URoadLine::getUpdateCnt ( )

inline

Get number of updates for line

References updateCnt.

Referenced by UResRoadLine::findCurrentRoad(), UResRoadLine::findCurrentRoad2(), UFunctionPassable::sendRoadLines(), UResRoadLine::update(), and UResRoadLine::updateRoadVariables().

bool URoadLine::isA ( int  lineType )

inline

Is line a left, centre or right line

References edge.

Referenced by UResRoadLine::findCurrentRoad2(), and UResRoadLine::update().

bool URoadLine::isValid ( )

inline

Is line valie

References valid.

Referenced by UResRoadLine::findCurrentRoad(), UResRoadLine::postUpdate(), UFunctionPassable::sendRoadLines(), and UResRoadLine::update().

void URoadLine::postUpdate	(	unsigned int	scan,
		UPoseTime *	pose,
		bool	moving
	)

Line maintenance, i.e. drop invalid lines

References absi(), mini(), odoPose, pL, scanSerial, sqr(), UPoseTime::t, updateCnt, valid, and xR.

Referenced by getPose(), and UResRoadLine::postUpdate().

void URoadLine::setNew	(	UPosition	pos,
		UPoseTime	pose,
		unsigned long	scan,
		int	piIdx,
		unsigned long	roadSerial
	)

Create new line with this new edge estimate

References UPose::h, ULineSegment::length, line, lineSerial, odoPose, pisIdx, pL, pR, scan, scanSerial, ULine::set2D(), sqr(), updateCnt, valid, UPosition::x, xR, and UPosition::y.

Referenced by getLineSerial(), and UResRoadLine::update().

void URoadLine::update	(	UPosition	pos,
		UPoseTime	pose,
		unsigned long	scan,
		bool	moving,
		int	piIdx
	)

Update the line estimate with this position

References UPose::getDistance(), ULine::getPositionOnLine(), ULineSegment::length, line, odoPose, pisIdx, pL, ULine::pos, pR, scan, scanSerial, ULineSegment::setFromPoints(), sqr(), updateCnt, UPosition::x, xR, and UPosition::y.

Referenced by getLineSerial(), and UResRoadLine::update().

Member Data Documentation

int URoadLine::edge

protected

Edge 0=left 1=center 2=right

Referenced by clear(), getLineType(), and isA().

ULineSegment URoadLine::line

protected

Estimated road line

Referenced by getDistanceSD(), getLine(), setNew(), and update().

unsigned long URoadLine::lineSerial

protected

Unique serial number for road - for correlation at client end

Referenced by clear(), getLineSerial(), and setNew().

UPoseTime URoadLine::odoPose

protected

Updated from this robot pose (and time)

Referenced by getPose(), postUpdate(), setNew(), and update().

int URoadLine::pisIdx

index pf last apassable interval updating this line

Referenced by UFunctionPassable::sendRoadLines(), setNew(), and update().

double URoadLine::pL

protected

Estimate cvariance of line segment

Referenced by clear(), getEstSD(), getQual(), postUpdate(), setNew(), and update().

double URoadLine::pR

protected

Referenced by clear(), setNew(), and update().

unsigned long URoadLine::scanSerial

protected

index of this line Updated by scan number

Referenced by clear(), getScanSerial(), postUpdate(), setNew(), and update().

int URoadLine::updateCnt

protected

Number of updates to this line

Referenced by clear(), getQual(), getUpdateCnt(), postUpdate(), setNew(), and update().

bool URoadLine::valid

protected

Is line valie

Referenced by clear(), isValid(), postUpdate(), and setNew().

double URoadLine::xR

protected

Estimated variance

Referenced by clear(), getDistanceSD(), getEstVar(), postUpdate(), setNew(), and update().

---

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

• uroadline.h
• uroadline.cpp