UProbGrid Class Reference

#include <uprobgrid.h>

Public Member Functions
double	getCellSize ()
UImage *	getGrid ()
bool *	getNewIsObst ()
UPosition *	getNewPoly ()
int	getNewPolyCnt ()
UImage *	getTempImg ()
bool	makeProbGrid (const char *sourceName)
bool	makeProbGrid2 (const char *sourceName)
void	saveMatlab (const char *filename)
void	setGrid (UImage *image)
bool	setNewPolygon (UPose robPose, UTime poseTime)
void	setTempImg (UImage *image)
	UProbGrid ()
	~UProbGrid ()

Protected Attributes
int	gcX
int	gcY
UImage *	grid
double	gridCellSize
int	newestPoly
UProbPoly	polys [MAX_POLYGON_COUNT]
int	polysCnt
UImage *	tempGrid

Private Member Functions
bool	paintGrid (UImage *img, int zeroX, int zeroY, double pixelSize, UPixel gridRGB, UPixel zeroRGB)

Detailed Description

Grid solution to passable free aea in front of robot.

Author

Christian Andersen

Constructor & Destructor Documentation

UProbGrid::UProbGrid

(

)

Constructor

References gcX, gcY, gridCellSize, newestPoly, and polysCnt.

UProbGrid::~UProbGrid

(

)

Destructor

Member Function Documentation

double UProbGrid::getCellSize ( )

inline

Get cell size for grid in meters per pixel.

References gridCellSize, img, paintGrid(), and saveMatlab().

UImage* UProbGrid::getGrid ( )

inline

Set image used for grid probability

References grid.

bool * UProbGrid::getNewIsObst

(

)

Get start of boolean list if obstacle markers

References UProbPoly::getIsObst(), newestPoly, polys, and polysCnt.

Referenced by getTempImg().

UPosition * UProbGrid::getNewPoly

(

)

Get start pf polyon for the newest set

References UPolygon::getPoints(), newestPoly, polys, and polysCnt.

Referenced by getTempImg().

int UProbGrid::getNewPolyCnt

(

)

Get number of vertices in polygon

References UPolygon::getPointsCnt(), newestPoly, polys, and polysCnt.

Referenced by getTempImg().

UImage* UProbGrid::getTempImg ( )

inline

Set image used for temporary painting

References getNewIsObst(), getNewPoly(), getNewPolyCnt(), makeProbGrid(), makeProbGrid2(), setNewPolygon(), and tempGrid.

bool UProbGrid::makeProbGrid

(

const char *

sourceName

)

Make probability grid

References UImage::clear(), UImage::cvArr(), gcX, gcY, UProbPoly::getIsObst(), UImage::getLine(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UProbPoly::getPoseNow(), UProbPoly::getPoseTime(), grid, gridCellSize, UImage::height(), imagePath, UProbPoly::MAX_POINTS, MAX_POLYGON_COUNT, maxi(), mini(), UProbPoly::moveToPose(), newestPoly, UPixel::p1, UPixel::p2, paintGrid(), UProbPoly::paintRobot(), UPixel::pixRGB(), polys, polysCnt, roundi(), UImage::saveBMP(), UImage::setSize(), tempGrid, UImage::width(), UPosition::x, and UPosition::y.

Referenced by getTempImg().

bool UProbGrid::makeProbGrid2

(

const char *

sourceName

)

Same as above, but without the fillling of extra images to get masks. etc.

References UImage::clear(), gcX, gcY, UProbPoly::getCrossingsAtY(), UPolygon::getLimits(), UImage::getPixRef(), UProbPoly::getPoseNow(), UProbPoly::getPoseTime(), grid, gridCellSize, UImage::height(), imagePath, MAX_POLYGON_COUNT, maxi(), mini(), UProbPoly::moveToPose(), newestPoly, UTime::Now(), UPixel::p2, paintGrid(), UProbPoly::paintRobot(), UPixel::pixRGB(), polys, polysCnt, roundi(), UImage::saveBMP(), saveMatlab(), UImage::setSize(), tempGrid, and UImage::width().

Referenced by getTempImg().

bool UProbGrid::paintGrid ( UImage *  img, int  zeroX, int  zeroY, double  pixelSize, UPixel  gridRGB, UPixel  zeroRGB  )

private

Paint 1 meter grid in this image with zero at this pixel position and this pixel size.

References UImage::cvArr(), UPixel::cvRGB(), UImage::height(), roundi(), and UImage::width().

Referenced by getCellSize(), makeProbGrid(), and makeProbGrid2().

void UProbGrid::saveMatlab

(

const char *

filename

)

Save grid in matlab format. Filename is exclusive extension (.m) and is saved in default dataPath.

References dataPath, gcX, gcY, UImage::getLine(), grid, gridCellSize, UImage::height(), UPixel::p2, and UImage::width().

Referenced by getCellSize(), and makeProbGrid2().

void UProbGrid::setGrid ( UImage *  image )

inline

Set image used for grid probability

References grid.

Referenced by UFunctionCamPath::initializeFindPath().

bool UProbGrid::setNewPolygon	(	UPose	robPose,
		UTime	poseTime
	)

Set new polygon from most recent image

References MAX_POLYGON_COUNT, newestPoly, polys, polysCnt, and UProbPoly::setPoly().

Referenced by getTempImg().

void UProbGrid::setTempImg ( UImage *  image )

inline

Set image used for temporary painting

References tempGrid.

Referenced by UFunctionCamPath::initializeFindPath().

Member Data Documentation

int UProbGrid::gcX

protected

Grid centre in pixels (cells)

Referenced by makeProbGrid(), makeProbGrid2(), saveMatlab(), and UProbGrid().

int UProbGrid::gcY

protected

Referenced by makeProbGrid(), makeProbGrid2(), saveMatlab(), and UProbGrid().

UImage* UProbGrid::grid

protected

Grid of probability

Referenced by getGrid(), makeProbGrid(), makeProbGrid2(), saveMatlab(), and setGrid().

double UProbGrid::gridCellSize

protected

Cell size for grid

Referenced by getCellSize(), makeProbGrid(), makeProbGrid2(), saveMatlab(), and UProbGrid().

int UProbGrid::newestPoly

protected

Number of oldest polygon

Referenced by getNewIsObst(), getNewPoly(), getNewPolyCnt(), makeProbGrid(), makeProbGrid2(), setNewPolygon(), and UProbGrid().

UProbPoly UProbGrid::polys[MAX_POLYGON_COUNT]

protected

Polygons to beused in

Referenced by getNewIsObst(), getNewPoly(), getNewPolyCnt(), makeProbGrid(), makeProbGrid2(), and setNewPolygon().

int UProbGrid::polysCnt

protected

Number of used polygons

Referenced by getNewIsObst(), getNewPoly(), getNewPolyCnt(), makeProbGrid(), makeProbGrid2(), setNewPolygon(), and UProbGrid().

UImage* UProbGrid::tempGrid

protected

Temporary grid for polygon painting

Referenced by getTempImg(), makeProbGrid(), makeProbGrid2(), and setTempImg().

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

• uprobgrid.h
• uprobgrid.cpp