UMapSegment Class Reference

#include <umapsegment.h>

Public Member Functions
list< UMapObj >::iterator	add ()
list< UMapObj >::iterator	add (double x, double y, double h, UMatrix4 *zQ, UTime atTime)
UMapObj *	addObj ()
UMapObj *	addObj (double x, double y, double h, UMatrix4 *zQ, UTime atTime)
UMapObj *	addObjCopy (UMapObj *source)
UMapRel *	addRel ()
UMapRel *	addRel (UMapObj *ref1, UMapObj *ref2)
list< UMapObj >::iterator	begin ()
list< UMapRel >::iterator	beginRel ()
void	clear ()
list< UMapObj >::iterator	end ()
list< UMapRel >::iterator	endRel ()
list< UMapObj >::iterator	find (unsigned long ID, mapObjType type)
UMapObj *	find (double x, double y, double margin, bool andInHistory=true)
UMapObj *	findObj (unsigned long ID, mapObjType type=motUnknown)
UMapSegment *	findSegment (unsigned long segmentID)
unsigned long	getID ()
double	getMaxX ()
double	getMaxY ()
double	getMinX ()
double	getMinY ()
char *	getName ()
unsigned long	getNextSerial ()
bool	initializeRobot (UMapRobot *posInMap, UMapRobot *lastUpdate)
bool	load (const char *filename, const char *path)
bool	load (Uxml3D *fxmap)
bool	save (const char *filename, const char *path)
bool	save (Uxml3D *fmap)
void	setID (unsigned long serial)
void	setMapLimits (double xmin, double xmax, double ymin, double ymax)
void	setName (char *toName)
void	setNextSerial (unsigned long next)
bool	test ()
	UMapSegment (UMapObj *parent)
bool	updateGmk (unsigned long robotID, UMapZGmk *measured)
void	updateLimits (double x, double y)
void	updateLimits ()
	~UMapSegment ()

Public Attributes
bool	hasPosition

Static Public Attributes
static const int	MAX_SEGMENT_NAME_LNG = 100

Protected Attributes
unsigned long	ID
list< UMapObj >	mapList
list< UMapRel >	mapRelations
double	maxX
double	maxY
double	minX
double	minY
char	name [MAX_SEGMENT_NAME_LNG]
unsigned long	nextSerial
UMapObj *	parent

Detailed Description

Map segment, that holds a number of map elements.

Constructor & Destructor Documentation

UMapSegment::UMapSegment

(

UMapObj *

parent

)

Constructor

UMapSegment::~UMapSegment

(

)

Destructor

Member Function Documentation

list<UMapObj>::iterator UMapSegment::add

(

)

Add map element

list<UMapObj>::iterator UMapSegment::add	(	double	x,
		double	y,
		double	h,
		UMatrix4 *	zQ,
		UTime	atTime
	)

Add map element

UMapObj* UMapSegment::addObj

(

)

Add new empty map object and return pointer to new object

UMapObj* UMapSegment::addObj	(	double	x,
		double	y,
		double	h,
		UMatrix4 *	zQ,
		UTime	atTime
	)

Add new map object and return pointer to new object

UMapObj* UMapSegment::addObjCopy

(

UMapObj *

source

)

Add a new object to be a copy of this object including any specifications like robot, guidemark or 3d info. Do not copy history or relations.

UMapRel* UMapSegment::addRel

(

)

Add an empty object relation

UMapRel* UMapSegment::addRel	(	UMapObj *	ref1,
		UMapObj *	ref2
	)

Add an object relation between these two objects (must be within this segment). The position constraint must be added after the relation is added.

list<UMapObj>::iterator UMapSegment::begin ( )

inline

Get first object in an iterator

References mapList.

list<UMapRel>::iterator UMapSegment::beginRel ( )

inline

Get first object in relation iterator

References mapRelations.

void UMapSegment::clear

(

)

Remove all objects from map. Do not recalculate limits.

list<UMapObj>::iterator UMapSegment::end ( )

inline

Get first object in an iterator

References mapList.

list<UMapRel>::iterator UMapSegment::endRel ( )

inline

Get end object in relation iterator

References mapRelations.

list<UMapObj>::iterator UMapSegment::find	(	unsigned long	ID,
		mapObjType	type
	)

Find an object from type and ID in this map segment. If type is unknown, then ID is assumed to be serial number.

UMapObj* UMapSegment::find	(	double	x,
		double	y,
		double	margin,
		bool	andInHistory = true
	)

Find object nearest to this position, within a given margin. Returns NULL if no object were found.

UMapObj* UMapSegment::findObj	(	unsigned long	ID,
		mapObjType	type = motUnknown
	)

Find a map object with this ID and type in this segment. Returns NULL if object is not found.

UMapSegment* UMapSegment::findSegment

(

unsigned long

segmentID

)

Find in this map (segment) a segment with this ID. Returns a pointer to the segment object, or NULL if not found.

unsigned long UMapSegment::getID ( )

inline

Get segment ID. This ID must be unique among segment ID's. The parent segment (map) must assign sequential ID numbers.

References ID.

double UMapSegment::getMaxX ( )

inline

Get limit for objects on map.

References maxX.

double UMapSegment::getMaxY ( )

inline

Get limit for objects on map.

References load(), maxY, and save().

double UMapSegment::getMinX ( )

inline

Get limit for objects on map.

References minX.

double UMapSegment::getMinY ( )

inline

Get limit for objects on map.

References minY.

char* UMapSegment::getName ( )

inline

Get segment name. Name is descriptive for the segment, but is not assumed to be unique.

References name, and setName().

unsigned long UMapSegment::getNextSerial ( )

inline

Get serial number

References nextSerial.

bool UMapSegment::initializeRobot	(	UMapRobot *	posInMap,
		UMapRobot *	lastUpdate
	)

Update robot position with theis odometer position data Initialize new robot in map segment

bool UMapSegment::load	(	const char *	filename,
		const char *	path
	)

Load map from this file. Returns true if loaded.

Referenced by getMaxY().

bool UMapSegment::load

(

Uxml3D *

fxmap

)

Load map segment from this xml-file class. Returns true if loaded.

bool UMapSegment::save	(	const char *	filename,
		const char *	path
	)

Save map in a html-like format to this qualified filename (and path). Returns true if saved.

Referenced by getMaxY().

bool UMapSegment::save

(

Uxml3D *

fmap

)

Save this segment and all the elements in the segment to this open file. Returns true is saved (or nothing to save).

void UMapSegment::setID ( unsigned long  serial )

inline

Set segment ID. This ID must be unique among segment ID's. The parent segment (map) must assign sequential ID numbers.

void UMapSegment::setMapLimits ( double  xmin, double  xmax, double  ymin, double  ymax  )

inline

Set map limits - that is initialize. Map limits are assumed to be in meter.

References maxX, maxY, minX, minY, and updateLimits().

void UMapSegment::setName

(

char *

toName

)

Set segment name. Name has a maximum length of UMapSegment::MAX_SEGMENT_NAME_LNG. If given name is longer, then it is truncated, Name is descriptive for the segment, but is not assumed to be unique.

Referenced by getName().

void UMapSegment::setNextSerial ( unsigned long  next )

inline

Set next serial - that is initialize.

References nextSerial.

bool UMapSegment::test

(

)

Test iterator and stuff

bool UMapSegment::updateGmk	(	unsigned long	robotID,
		UMapZGmk *	measured
	)

Update with robot detected guidemark. Returns true if robot exist.

void UMapSegment::updateLimits	(	double	x,
		double	y
	)

Update limits with this element

void UMapSegment::updateLimits

(

)

Update limits with all elements

Referenced by setMapLimits().

Member Data Documentation

bool UMapSegment::hasPosition

Has this map segment a known position relative to map? For top level segment this should be false. For local maps this can be false, until local map is localized in higher level map.

unsigned long UMapSegment::ID

protected

Map segment ID

Referenced by getID().

list<UMapObj> UMapSegment::mapList

protected

List structure with map.

Referenced by begin(), and end().

list<UMapRel> UMapSegment::mapRelations

protected

Relations, that further determines the position relations of items in map. This is the owner of the relations.

Referenced by beginRel(), and endRel().

const int UMapSegment::MAX_SEGMENT_NAME_LNG = 100

static

Length of name buffer

double UMapSegment::maxX

protected

Referenced by getMaxX(), and setMapLimits().

double UMapSegment::maxY

protected

Referenced by getMaxY(), and setMapLimits().

double UMapSegment::minX

protected

Map limits in local coordinates

Referenced by getMinX(), and setMapLimits().

double UMapSegment::minY

protected

Referenced by getMinY(), and setMapLimits().

char UMapSegment::name[MAX_SEGMENT_NAME_LNG]

protected

Segment name

Referenced by getName().

unsigned long UMapSegment::nextSerial

protected

next available serial number.

Referenced by getNextSerial(), and setNextSerial().

UMapObj* UMapSegment::parent

protected

Parent object if this is a local map If top level map, then parent == NULL.

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

• umapsegment.h