#include <upcpitem.h>

Inheritance diagram for UPcpItem:

Public Types
enum	POINT_CLOUD_TYPE { Empty, PointXyz, PointXyzRgb }

enum	SHAPE_TYPE { cloud, polygon, polyline }

Public Member Functions
void	add (double x, double y, double z)

void	add (double x, double y, double z, uint32_t rgb)

void	clear ()

const char *	codeXML (char *buf, const int bufCnt)

bool	copy (UPcpItem *source)

void	copy (pcl::PointCloud< pcl::PointXYZ > *source)

void	copy (pcl::PointCloud< pcl::PointXYZRGB > *source)

void	deleteCloud ()

POINT_CLOUD_TYPE	getCloudType ()

virtual const char *	getDataType ()

int	getNeededBufferSize ()

UPosition	getPoint (int idx)

int	getPointsCnt ()

SHAPE_TYPE	getShapeType ()

bool	hasColor ()

bool	isA (const char *thisname)

bool	isEmpty ()

bool	isPolygon ()

bool	isPolyline ()

bool	isXYZ ()

bool	isXYZRGB ()

void	makeCloud (POINT_CLOUD_TYPE type)

bool	match (const char *thisname)

const char *	print (const char preStr, char buff, const int buffCnt)

void	remove (int idx)

bool	savePCD (const char *filename)

void	setAsCloud ()

void	setAsPolygon ()

void	setAsPolyline ()

void	setName (const char *newname)

void	setUpdated ()

	UPcpItem ()

	~UPcpItem ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Attributes
POINT_CLOUD_TYPE	cloudType

int	cooSys

char	name [MNL]

UPosRot	relPose

bool	relPoseUse

UTime	sensorTime

SHAPE_TYPE	shapeType

UTime	updateTime

pcl::PointCloud< pcl::PointXYZ > *	xyz
	XYZ point cloud (maintained by the pool) More...

pcl::PointCloud< pcl::PointXYZ >::Ptr *	xyzp
	pointer to xyz cloud (maintained by the pool) More...

pcl::PointCloud< pcl::PointXYZRGB > *	xyzrgb
	XYZRGB cloud. More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr *	xyzrgbp
	pointer to xyzcloud More...

Static Public Attributes
static const int	MNL = 32

Detailed Description

A point cloud iten that can hold a XYZ or a XYZRGB point cloud. In addition there is info about the detection time, the coordinate system (and sensor pose on robot - if relevant). The structure should be locked when reading or writing more than one field, to ensure consistent data.

Member Enumeration Documentation

enum UPcpItem::POINT_CLOUD_TYPE

shape type, Empty, PointXyz or PointXyzRgb

Enumerator
Empty
PointXyz
PointXyzRgb

enum UPcpItem::SHAPE_TYPE

shape type, cloud, polygon or polyline

Enumerator
cloud
polygon
polyline

Constructor & Destructor Documentation

UPcpItem::UPcpItem ( )

inline

constructor

References UTime::clear(), UPosRot::clear(), cloud, cloudType, cooSys, Empty, name, relPose, relPoseUse, shapeType, updateTime, xyz, xyzp, xyzrgb, and xyzrgbp.

Referenced by UResPcp::add().

UPcpItem::~UPcpItem ( )

inline

Destructor

References buf, codeXML(), isA(), match(), print(), and setName().

Member Function Documentation

void UPcpItem::add	(	double	x,
		double	y,
		double	z
	)

inline

Add this point to the pointcloud

References xyz.

Referenced by UResPcp::add(), UResPcp::getItemXYZ(), UResPcp::handleNewData(), UResPcp::methodCall(), and UResPcp::methodCallV().

void UPcpItem::add	(	double	x,
		double	y,
		double	z,
		uint32_t	rgb
	)

inline

Add this point to the pointcloud

References xyz, and xyzrgb.

void UPcpItem::clear ( void )

inline

Clear all points in this point cloud, but maintain name and type

References cloudType, PointXyz, PointXyzRgb, savePCD(), xyz, and xyzrgb.

Referenced by UResPcp::add(), UResPcp::del(), and UResPcp::handleNewData().

const char * UPcpItem::codeXML	(	char *	buf,
		const int	bufCnt
	)

code this pcp item in XML format

Parameters

buff	start of buffer
bufCnt	length of buffer

Returns: a pointer to the buffer

References bool2str(), buf, cooSys, UTime::getMicrosec(), getNeededBufferSize(), getPointsCnt(), UTime::getSec(), isXYZRGB(), URotation::Kappa, name, URotation::Omega, URotation::Phi, relPose, relPoseUse, sensorTime, UPosition::x, xyz, xyzrgb, UPosition::y, and UPosition::z.

Referenced by UResPcp::codePcpXml(), and ~UPcpItem().

bool UPcpItem::copy ( UPcpItem * source )

Copy source cloud to this cloud

References cloudType, cooSys, getCloudType(), getPointsCnt(), isEmpty(), makeCloud(), MNL, name, PointXyz, PointXyzRgb, relPose, relPoseUse, sensorTime, updateTime, xyz, and xyzrgb.

Referenced by UResPcp::copy(), UResPcp::methodCallV(), and setAsCloud().

void UPcpItem::copy ( pcl::PointCloud< pcl::PointXYZ > * source )

Copy source cloud to this cloud

References makeCloud(), PointXyz, and xyz.

void UPcpItem::copy ( pcl::PointCloud< pcl::PointXYZRGB > * source )

Copy source cloud to this cloud

References makeCloud(), PointXyzRgb, and xyzrgb.

void UPcpItem::deleteCloud ( )

inline

delete point cloud

References cloudType, Empty, xyz, xyzp, xyzrgb, and xyzrgbp.

Referenced by UResPcp::add(), and makeCloud().

POINT_CLOUD_TYPE UPcpItem::getCloudType ( )

inline

Get cloud type (either cloud, a po

References cloudType.

Referenced by UResPcp::add(), copy(), and UPaintPcp::paint().

virtual const char* UPcpItem::getDataType ( )

inlinevirtual

get data type for for this transferable class

Reimplemented from UDataBase.

int UPcpItem::getNeededBufferSize ( )

inline

Get needed buffer size to code cloud in ASCII

References getPointsCnt(), and isXYZ().

Referenced by codeXML(), and UFuncPcp::handleCommand().

UPosition UPcpItem::getPoint ( int idx )

inline

get point position in UPosition type

Returns: all zeros if not a valid index

References getPointsCnt(), isXYZ(), UPosition::x, xyz, xyzrgb, UPosition::y, and UPosition::z.

Referenced by UResPcp::methodCall(), and UResPcp::methodCallV().

int UPcpItem::getPointsCnt ( )

inline

Get points count

References isXYZ(), isXYZRGB(), xyz, and xyzrgb.

Referenced by UResPcp::add(), codeXML(), copy(), getNeededBufferSize(), getPoint(), UResPcp::methodCall(), UResPcp::methodCallV(), print(), remove(), and UFuncKinect::updateCloud().

SHAPE_TYPE UPcpItem::getShapeType ( )

inline

Get cloud type (either cloud, a po

References shapeType.

bool UPcpItem::hasColor ( )

inline

has this cloud color

References isXYZRGB().

Referenced by print().

bool UPcpItem::isA ( const char * thisname )

Test name of this pcp item

Parameters

thisname is the name to be tested against

Returns: true if name is identical - is not case sensitive

References name.

Referenced by UResPcp::getNext(), match(), UResPcp::methodCall(), UResPcp::methodCallV(), and ~UPcpItem().

bool UPcpItem::isEmpty ( )

inline

Is this cloud empty

References xyz, and xyzrgb.

Referenced by copy().

bool UPcpItem::isPolygon ( )

inline

Is the pointcloud a polygon

References polygon, and shapeType.

Referenced by print().

bool UPcpItem::isPolyline ( )

inline

Is the pointcloud a poly line

References polyline, and shapeType.

bool UPcpItem::isXYZ ( )

inline

is point cloud a xyz cloud

References xyz.

Referenced by UResPcp::add(), getNeededBufferSize(), getPoint(), getPointsCnt(), and remove().

bool UPcpItem::isXYZRGB ( )

inline

is point cloud a xyzRGB cloud

References xyzrgb.

Referenced by codeXML(), getPointsCnt(), and hasColor().

void UPcpItem::makeCloud ( POINT_CLOUD_TYPE type )

inline

Make a cloud of this type

References cloudType, deleteCloud(), Empty, PointXyz, PointXyzRgb, xyz, xyzp, xyzrgb, and xyzrgbp.

Referenced by UResPcp::add(), copy(), UResPcp::getItemXYZ(), UResPcp::handleNewData(), and UResPcp::methodCallV().

bool UPcpItem::match ( const char * thisname )

Test name of this pcp item against a name, that may hold one final wildcard (a *) i.e. 'foo*' will match 'footprint' and 'foo', but not 'fo' and 'foo*print' will match the same as 'foo*' a '*' will match all

Parameters

thisname is the name to be tested against (with optionally one wildcard '*')

Returns: true if name matches 'thisname' - is not case sensitive

References isA(), and name.

Referenced by UResPcp::getNext(), and ~UPcpItem().

const char * UPcpItem::print	(	const char *	preStr,
		char *	buff,
		const int	buffCnt
	)

Print current status to this buffer string

Parameters

preStr	start by inserting this string into buffer
buff	start of buffer
bufCnt	length of buffer

Returns: a pointer to the buffer

References bool2str(), getPointsCnt(), hasColor(), isPolygon(), and name.

Referenced by ~UPcpItem().

void UPcpItem::remove ( int idx )

inline

Remove a point from point cloud

References getPointsCnt(), isXYZ(), xyz, and xyzrgb.

Referenced by UResPcp::methodCallV().

bool UPcpItem::savePCD ( const char * filename )

Save this cloud as a PCD file (ascii),

Returns: true if saved.

References cloudType, PointXyzRgb, xyz, and xyzrgb.

Referenced by clear(), and UResPcp::savePCD().

void UPcpItem::setAsCloud ( )

inline

Set cloud as just a cloud

References cloud, copy(), and shapeType.

void UPcpItem::setAsPolygon ( )

inline

Set cloud as polygon

References polygon, and shapeType.

Referenced by UResPcp::methodCallV().

void UPcpItem::setAsPolyline ( )

inline

Set cloud as polyline

References polyline, and shapeType.

Referenced by UResPcp::add(), and UResPcp::methodCallV().

void UPcpItem::setName ( const char * newname )

Set name of this pcp item

Parameters

newname is the new name for the pcpgon - default is empty - max 32 characters (MNL)

References MNL, and name.

Referenced by UResPcp::add(), UResPcp::getItemXYZ(), and ~UPcpItem().

void UPcpItem::setUpdated ( )

inline

set pcpgon as updated, i.e. set the update time to now.

References UTime::now(), and updateTime.

Referenced by UResPcp::add(), and UResPcp::methodCallV().

Member Data Documentation

POINT_CLOUD_TYPE UPcpItem::cloudType

is this cloud just a 3d position, or has it color (or is empty)

Referenced by clear(), copy(), deleteCloud(), getCloudType(), UResPcp::handleNewData(), makeCloud(), savePCD(), and UPcpItem().

int UPcpItem::cooSys

coordinate system 0=odo, 1=utm, 2=map. NB! if relPoseUse is true, then the cloud is in sensor coordinates.

Referenced by codeXML(), copy(), UResPcp::handleNewData(), UResPcp::methodCallV(), UPcpItem(), UPaintPcp::update(), and UFuncKinect::updateCloud().

const int UPcpItem::MNL = 32

static

size of names

Referenced by copy(), UResPcp::handleNewData(), and setName().

char UPcpItem::name[MNL]

pcpgon name

Referenced by codeXML(), copy(), UResPcp::handleNewData(), isA(), match(), print(), setName(), UPcpItem(), and UPaintPcp::update().

UPosRot UPcpItem::relPose

if relative pose, the coordinates are relative to this pose (relative to the robot)

Referenced by codeXML(), copy(), UResPcp::handleNewData(), UPcpItem(), UPaintPcp::update(), and UFuncKinect::updateCloud().

bool UPcpItem::relPoseUse

use the relative pose, that is the cloud coordinates is the local relPose coordinates, and should then be converted to robot coordinates using this relative pose relPose. If relPose is false, then the coordinates are as specified in cooSys

Referenced by codeXML(), copy(), UResPcp::handleNewData(), UPcpItem(), UPaintPcp::update(), and UFuncKinect::updateCloud().

UTime UPcpItem::sensorTime

sensor detection time - if related to a sensor

Referenced by codeXML(), copy(), UResPcp::handleNewData(), and UFuncKinect::updateCloud().

SHAPE_TYPE UPcpItem::shapeType

is this cloud a polyline, a polygon or just a cloud

Referenced by getShapeType(), isPolygon(), isPolyline(), setAsCloud(), setAsPolygon(), setAsPolyline(), UPcpItem(), and UFuncKinect::updateCloud().