#include <ulaserdataset.h>

Public Member Functions
void	clear ()

int	findEdgeObstacles (FILE logo, UResPassable resp)

double	get2DDistToCross (U2Dline line, UPose fromPose, bool *behind)

U2Dline	get2DLine ()

double	getCenter ()

virtual UPosition	getCenterPos ()

bool	getCenterValid ()

virtual UTime	getDetectTime ()

double	getFitVariance ()

int	getLeft ()

ULaserObst *	getLeftObst ()

UPosition	getLeftPos ()

UPosition	getLeftPos ()

UPosition	getLeftSide ()

int	getRight ()

ULaserObst *	getRightObst ()

UPosition	getRightPos ()

UPosition	getRightPos ()

UPosition	getRightSide ()

ULaserScan *	getScan ()

ULineSegment *	getSegment ()

double	getTilt ()

UPosition	getTop ()

double	getTopHeight (double laserTile)

UPosition	getTopPos ()

virtual double	getVarMin ()

virtual double	getVarMin2 ()

double	getWidth ()

double	getYWidth ()

bool	isTopValid ()

ULineSegment *	makeBestFit ()

void	moveToMap (UPose *odoPose)

void	print (const char *preString)

void	print (const char preString, char buff, const int buffCnt)

void	setCenter (double segmentCenter, bool valid)

bool	setFromTag (USmlTag *tag)

void	setInterval (int right, int left, ULaserScan *sourceScan, double varMin, double varMin2)

	ULaserPi ()

	ULaserPi ()

virtual	~ULaserPi ()

	~ULaserPi ()

Private Attributes
double	centerPosition

bool	centerValid

int	left

double	leftAngle

UPosition	leftPos

UPosition	leftSide

int	linksCnt

ULaserObst	obstLeft

ULaserObst	obstRight

int	right

double	rightAngle

UPosition	rightPos

UPosition	rightSide

ULaserScan *	scan

ULineSegment	segment

double	tilt

UPosition	topPos

double	variance

double	varianceMin

double	varianceMin2

double	yw

Detailed Description

class to hold a passable interval position in a laserscan.

Specification of one passable interval in a series of laser scan values. Number of first and last point is stored only.

Constructor & Destructor Documentation

ULaserPi::ULaserPi ( )

Constructor

ULaserPi::~ULaserPi ( )

Destructor

ULaserPi::ULaserPi ( )

Constructor

virtual ULaserPi::~ULaserPi ( )

virtual

Destructor

Member Function Documentation

void ULaserPi::clear ( void )

Clear and set positions to 0.0

int ULaserPi::findEdgeObstacles	(	FILE *	logo,
		UResPassable *	resp
	)

Find edge obstacles (left and right) for this passable interval. Further needs acces to opther passable intervals. Returns number of obstacles found.

References ULaserObst::findEdgeObstacle(), UResPassable::findPi(), ULaserObst::getLeftIndex(), ULaserScan::getQ(), ULaserObst::getRightIndex(), left, obstLeft, obstRight, PQ_OBST, PQ_ROUGH, right, scan, and ULaserScan::setQ().

Referenced by getTilt().

double ULaserPi::get2DDistToCross	(	U2Dline	line,
		UPose	fromPose,
		bool *	behind
	)

Get the distance to the crossing (in 2D x,y only) between this passable interval and this 'line', as seen from the provided 'fromPose'. If the found crossing is behind the pose, then behind is true. If the lines are parallel 0.0 is returned and 'behind' is (brobably) false. Else the distance is returned. 'behind' may be NULL, if no need

References get2DLine(), U2Dline::getCrossing(), UPose::getMapToPose(), UPosition::set(), UPosition::x, and UPosition::y.

Referenced by getTilt().

U2Dline ULaserPi::get2DLine ( )

Get passable line as a 2D line

References ULine::pos, segment, U2Dline::setPV(), ULine::vec, UPosition::x, and UPosition::y.

Referenced by get2DDistToCross(), and getRightObst().

double ULaserPi::getCenter ( )

inline

Get distance to centerPosition from segment origin

References centerPosition.

Referenced by UFunctionPassable::handlePass().

UPosition ULaserPi::getCenterPos ( )

virtual

Get center position of found road. Center position should be highest point. This is the measured position and not on the fitted line

References centerPosition, ULine::getPositionOnLine(), and segment.

Referenced by getTopHeight(), getVarMin2(), and UResRoadLine::update().

bool ULaserPi::getCenterValid ( )

inline

Get valid flag for center position, center position is not valid if the segment is too flat. In this case the center position is set to half line width.

References centerValid, and getTop().

Referenced by UFunctionPassable::handlePass().

UTime ULaserPi::getDetectTime ( )

virtual

Get detect time

References scan, and ULaserScan::time.

Referenced by getScan().

double ULaserPi::getFitVariance ( )

inline

Get fit variance

References variance.

Referenced by UResPassable::findTopOfRoad(), and UFunctionPassable::handlePass().

int ULaserPi::getLeft ( )

inline

Get left data index

References left.

Referenced by UResPassable::combineNearIntervals(), ULaserObst::findEdgeObstacle(), UResPassable::findPi(), UResPassable::findTopOfRoad(), UFunctionPassable::handlePass(), and UResPassable::makePassableIntervalsFit().

ULaserObst* ULaserPi::getLeftObst ( )

inline

Get pointer to left obstacle structure

References obstLeft.

UPosition ULaserPi::getLeftPos ( )

Get left position - not smoothed to best fit line.

UPosition ULaserPi::getLeftPos ( )

inline

Get left position

Referenced by ULaserObst::findEdgeObstacle(), getVarMin2(), UClientFuncLaserGui::paintPis(), print(), setCenter(), and UResRoadLine::update().

UPosition ULaserPi::getLeftSide ( )

inline

Get left side of road (half robot distance from edge)

Referenced by UClientFuncLaserGui::paintPis().

int ULaserPi::getRight ( )

inline

Get left data index

References right.

Referenced by UResPassable::combineNearIntervals(), ULaserObst::findEdgeObstacle(), UResPassable::findPi(), UResPassable::findTopOfRoad(), UFunctionPassable::handlePass(), UResPassable::makePassableIntervalsFit(), and sortPis().

ULaserObst* ULaserPi::getRightObst ( )

inline

Get pointer to right obstacle structure

References get2DLine(), and obstRight.

UPosition ULaserPi::getRightPos ( )

Get right position - not smoothed to best fit line.

UPosition ULaserPi::getRightPos ( )

inline

Get right position

Referenced by ULaserObst::findEdgeObstacle(), getVarMin2(), UClientFuncLaserGui::paintPis(), print(), setCenter(), and UResRoadLine::update().

UPosition ULaserPi::getRightSide ( )

inline

Get right side of road (half robot distance from edge)

Referenced by UClientFuncLaserGui::paintPis().

ULaserScan* ULaserPi::getScan ( )

inline

Get scan (parent) of this passable interval

References getDetectTime(), and scan.

ULineSegment* ULaserPi::getSegment ( )

inline

Get passable line segment

Referenced by UResPassable::combineNearIntervals(), UResPassable::findTopOfRoad(), UFunctionPassable::handlePass(), and UResPassable::makePassableIntervalsFit().

double ULaserPi::getTilt ( )

inline

get road tilt - relative to robot

References findEdgeObstacles(), get2DDistToCross(), getTopHeight(), makeBestFit(), moveToMap(), print(), and tilt.

Referenced by UResPassable::findTopOfRoad(), and UResPassable::makePassableIntervalsFit().

UPosition ULaserPi::getTop ( )

Get position this distance from right edge

References centerPosition, ULine::getPositionOnLine(), and segment.

Referenced by getCenterValid(), and getTopHeight().

double ULaserPi::getTopHeight ( double laserTile )

Get height of top position relative to best-fit line. This is calculated from the distance to the robot and the tilt of the laser-plane.

References UPosition::dist(), getCenterPos(), and getTop().

Referenced by getTilt().

UPosition ULaserPi::getTopPos ( )

inline

Get top position

Referenced by UClientFuncLaserGui::paintPis().

virtual double ULaserPi::getVarMin ( )

inlinevirtual

Get minimum half-robot-width variance in interval with min limit

References varianceMin.

Referenced by UResPassable::combineNearIntervals().

virtual double ULaserPi::getVarMin2 ( )

inlinevirtual

Get minimum half-robot-width variance in interval, no min limit

References getCenterPos(), getLeftPos(), getRightPos(), and varianceMin2.

Referenced by UResPassable::combineNearIntervals(), and UFunctionPassable::handlePass().

double ULaserPi::getWidth ( )

inline

Get segment euclidian width - straight line distance.

References ULineSegment::length, and segment.

double ULaserPi::getYWidth ( )

inline

Get segment width perpendicular to robot. When robot follows road this is an estimate of road width

References yw.

bool ULaserPi::isTopValid ( )

inline

Is top (center) position valid

References centerValid.

ULineSegment* ULaserPi::makeBestFit ( )

Calculate best-fit line

Referenced by getTilt().

void ULaserPi::moveToMap ( UPose * odoPose )

Move fitted line segment to map coordinates from this robot pose

References ULineSegment::getOtherEnd(), UPose::getPoseToMap(), ULaserObst::isValid(), ULaserObst::moveToMap(), obstLeft, obstRight, ULine::pos, segment, and ULineSegment::setFromPoints().

Referenced by getTilt().

void ULaserPi::print ( const char * preString )

Print status for passable interval - i.e. scannumber left and right extreme and such

Referenced by getTilt(), and UResPassable::print().

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

Print status to this string

References getLeftPos(), getRightPos(), ULaserScan::getSerial(), scan, UPosition::x, and UPosition::y.

void ULaserPi::setCenter	(	double	segmentCenter,
		bool	valid
	)

Set center position (parameter on line segment, i.e distance from right edge) and validity

References centerPosition, centerValid, getLeftPos(), ULaserScan::getPos(), getRightPos(), left, right, and scan.

Referenced by UResPassable::findTopOfRoad().

bool ULaserPi::setFromTag ( USmlTag * tag )

Set passable interval from tag

References ULaserData::clear(), USmlTagIn::getNextAttribute(), and MAX_SML_NAME_LENGTH.

Referenced by UClientFuncLaser::handleLaserScan().

void ULaserPi::setInterval	(	int	right,
		int	left,
		ULaserScan *	sourceScan,
		double	varMin,
		double	varMin2
	)

Set interval. With these limits (both inclusive) and with this minimum variance

References ULaserScan::getLineSegmentFit(), ULineSegment::getOtherEnd(), left, ULine::pos, right, scan, segment, tilt, variance, varianceMin, varianceMin2, UPosition::y, yw, and UPosition::z.

Referenced by UResPassable::addPassableInterval(), and UResPassable::combineNearIntervals().

Member Data Documentation

double ULaserPi::centerPosition

private

Distance from right (reference) end of segment to top of road (center position).

Referenced by getCenter(), getCenterPos(), getTop(), and setCenter().

bool ULaserPi::centerValid

private

Is top position valid - i.e. is a significant top found

Referenced by getCenterValid(), isTopValid(), and setCenter().

int ULaserPi::left

private

Left extreme of passable interval

Referenced by findEdgeObstacles(), getLeft(), setCenter(), and setInterval().

double ULaserPi::leftAngle

private

Left angle of interval

UPosition ULaserPi::leftPos

private

3D Position of left edge of interval

UPosition ULaserPi::leftSide

private

Right side (half robot distance)

int ULaserPi::linksCnt

private

Number of links from this passable interval to other passable intervals in previous scan

ULaserObst ULaserPi::obstLeft

private

Obstacle to the left

Referenced by findEdgeObstacles(), getLeftObst(), and moveToMap().

ULaserObst ULaserPi::obstRight

private

Obstacle to the right

Referenced by findEdgeObstacles(), getRightObst(), and moveToMap().

int ULaserPi::right

private

Right extreme of passable interval

Referenced by findEdgeObstacles(), getRight(), setCenter(), and setInterval().

double ULaserPi::rightAngle

private

Right angle of interval

UPosition ULaserPi::rightPos

private

3D position of right edge of interval

UPosition ULaserPi::rightSide

private

Left side (half robot distance)

ULaserScan* ULaserPi::scan

private

Parent scan

Referenced by findEdgeObstacles(), getDetectTime(), getScan(), print(), setCenter(), and setInterval().

ULineSegment ULaserPi::segment

private

Line segment desribing the interval

Referenced by get2DLine(), getCenterPos(), getTop(), getWidth(), moveToMap(), and setInterval().

double ULaserPi::tilt

private

Road tilt value relative to robot. This value is set from road edge-points

Referenced by getTilt(), and setInterval().

UPosition ULaserPi::topPos

private

Top of road

double ULaserPi::variance

private

Variance relative to segment

Referenced by getFitVariance(), and setInterval().

double ULaserPi::varianceMin

private

Minimum half robot width variance (within minimum limit)

Referenced by getVarMin(), and setInterval().

double ULaserPi::varianceMin2

private

Minimum half robot width variance based on at leat 10 measurements, no min limit.

Referenced by getVarMin2(), and setInterval().

double ULaserPi::yw

private

Segment width perpendiculat ro robot. Could be taken as road width.

Referenced by getYWidth(), and setInterval().

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation