AURobotServers: ULaserObst Class Reference

AURobotServers 4

#include <ulaserobst.h>

Public Member Functions
bool	findEdgeObstacle (int refIdx, bool toTheLeft, ULaserScan scanRef, ULaserPi neighbourPi)

ULaserPi *	getClosebyPi ()

double	getClosebyPiDist ()

int	getIndexMax ()

int	getLeftIndex ()

ULineSegment *	getLineSegment ()

double	getLineSegmentVar ()

int	getRightIndex ()

bool	isValid ()

void	moveToMap (UPose odoPose)

void	setInvalid ()

	ULaserObst ()

	~ULaserObst ()

Private Attributes
UPosition	center

ULaserPi *	closePi

double	closePiDist

int	leftIdx

ULineSegment	lineFit

double	lineFitVariance

int	rightIdx

ULaserScan *	scan

Detailed Description

Class that holds an obstacle as seen by the lase scanner

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserObst::ULaserObst ( )

Constructor

References leftIdx, lineFitVariance, and rightIdx.

ULaserObst::~ULaserObst ( )

Destructor

Member Function Documentation

bool ULaserObst::findEdgeObstacle	(	int	refIdx,
		bool	toTheLeft,
		ULaserScan *	scanRef,
		ULaserPi *	neighbourPi
	)

find obstacle at edge of passable interval

Todo:: her mangler nok bedre estimaering af obstacle type wall, human, ...

References absi(), center, closePi, closePiDist, ULaserScan::data, ULaserScan::dataCnt, UPosition::dist(), ULaserPi::getLeft(), ULaserPi::getLeftPos(), ULaserScan::getLineSegmentFit(), ULaserScan::getPos(), ULaserPi::getRight(), ULaserPi::getRightPos(), ULaserPoint::isValid(), leftIdx, ULineSegment::length, lineFit, lineFitVariance, ULaserPoint::passQ, ULaserPoint::pos, PQ_EASY, PQ_ROUGH, rightIdx, UPosition::scaled(), scan, ULineSegment::setFromPoints(), and UPosition::x.

Referenced by ULaserPi::findEdgeObstacles().

ULaserPi * ULaserObst::getClosebyPi ( )

Get distance to closeby passable interval

References closePi.

Referenced by getClosebyPiDist().

double ULaserObst::getClosebyPiDist ( )

inline

Get distance to closeby passable interval

References closePiDist, and getClosebyPi().

int ULaserObst::getIndexMax ( )

Get max index into laserscan

References ULaserScan::getDataMax(), and scan.

Referenced by getLeftIndex().

int ULaserObst::getLeftIndex ( )

inline

Get left index into laserscan

References getIndexMax(), and leftIdx.

Referenced by ULaserPi::findEdgeObstacles().

ULineSegment* ULaserObst::getLineSegment ( )

inline

Get pointer to fitted line segment

References lineFit.

double ULaserObst::getLineSegmentVar ( )

inline

Get variance for fitted line

References lineFitVariance, and moveToMap().

int ULaserObst::getRightIndex ( )

inline

Get right index into laserscan

References rightIdx.

Referenced by ULaserPi::findEdgeObstacles().

bool ULaserObst::isValid ( )

Is obstacle valid

References leftIdx, and scan.

Referenced by ULaserPi::moveToMap().

void ULaserObst::moveToMap ( UPose odoPose )

Move coordinates from robot to map coordinates, using this pose

References center, ULineSegment::getOtherEnd(), UPose::getPoseToMap(), lineFit, ULine::pos, and ULineSegment::setFromPoints().

Referenced by getLineSegmentVar(), and ULaserPi::moveToMap().

void ULaserObst::setInvalid ( )

inline

Make obstacle invalid

References leftIdx.

Member Data Documentation

UPosition ULaserObst::center

private

Center of obstacle

Referenced by findEdgeObstacle(), and moveToMap().

ULaserPi* ULaserObst::closePi

private

Is this edge just another passable interva then this pointer is to the other PI

Referenced by findEdgeObstacle(), and getClosebyPi().

double ULaserObst::closePiDist

private

Distance to end of neighbohs end position

Referenced by findEdgeObstacle(), and getClosebyPiDist().

int ULaserObst::leftIdx

private

leftmost laser measurement of obstacle

Referenced by findEdgeObstacle(), getLeftIndex(), isValid(), setInvalid(), and ULaserObst().

ULineSegment ULaserObst::lineFit

private

Line segment best fitting the obstacle

Referenced by findEdgeObstacle(), getLineSegment(), and moveToMap().

double ULaserObst::lineFitVariance

private

Line fit variance

Referenced by findEdgeObstacle(), getLineSegmentVar(), and ULaserObst().

int ULaserObst::rightIdx

private

rightmost laser measurement of obstacle

Referenced by findEdgeObstacle(), getRightIndex(), and ULaserObst().

ULaserScan* ULaserObst::scan

private

Reference to the scan detected the obstacle

Referenced by findEdgeObstacle(), getIndexMax(), and isValid().

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