#include <uobstaclepool.h>

Inheritance diagram for UObstaclePool:

Public Member Functions
bool	addObst (ULaserScan *scan, UPoseTime odoPose, int idx1, int idx2, bool outdoorObsts, bool horizontalScan, bool ignoreIfFixed)

bool	addObst (UPolygon *poly, UPoseTime odoPose, bool outdoorObsts, bool horizontalScan, bool ignoreIfFixed)

UObstacleGroupLaser *	advanceNewGroup ()

void	clear ()

void	clearGrp (int idx)

UObstacleGroup *	getFixeds ()

UObstacleGroupLaser *	getGroup (int fromNewest)

int	getGroupsCnt ()

virtual void	getObstacleGroupSettings (UObstacleGroupLaser *og)

UObstacleGroupLaser *	getObstGrp (UPoseTime pt)

virtual void	obstDataUpdated (UTime poseTime)

bool	pointsToPolygon (ULaserScan scan, UPoseTime odoPose, int idx1, int idx2, UPolygon p40, bool outdoorObsts, bool horizontalScan)

void	print (const char *prestr)

void	setFixedObstacles (UObstacleGroup *fixedObstGrp)

void	setLogFile (FILE *logFile)

void	setNewGrpDist (double value)

void	setNewGrpTime (double value)

	UObstaclePool ()

virtual	~UObstaclePool ()

Static Public Attributes
static const int	MAX_OBSTACLE_GROUPS = 100

Protected Attributes
UObstacleGroup *	fixeds

UObstacleGroupLaser *	groups [MAX_OBSTACLE_GROUPS]

int	groupsCnt

FILE *	logo

int	newest

double	newGroupTime

double	newGrpDist

unsigned long	nextSerial

Detailed Description

Historic updated obstacles, divided into groups

Author: Christian Andersen

Constructor & Destructor Documentation

UObstaclePool::UObstaclePool ( )

Constructor

UObstaclePool::~UObstaclePool ( )

virtual

Destructor

Member Function Documentation

bool UObstaclePool::addObst	(	ULaserScan *	scan,
		UPoseTime	odoPose,
		int	idx1,
		int	idx2,
		bool	outdoorObsts,
		bool	horizontalScan,
		bool	ignoreIfFixed
	)

Add an obstacle, using this scan and this index interval

Parameters

scan	laserscan
odoPose	is the odoPose at scantime
idx1	is first measurement of obstacle
idx2	is last measurment in obstacle
outdoorObstacle	allows more separation if true
ignoreIfFixed	when true, then all obstacles that overlaps fixed obstacles gets ignored.
horizontalScan	if false, then tilted and allows correlation of rough grass areas

Returns: true if added

References UObstacleGroupLaser::addObst().

Referenced by ULaserScan::findNearObstacles(), and UResLobst::sendAsObstacles().

bool UObstaclePool::addObst	(	UPolygon *	poly,
		UPoseTime	odoPose,
		bool	outdoorObsts,
		bool	horizontalScan,
		bool	ignoreIfFixed
	)

Add an obstacle to obstacle group, and advance to new group as intended

Parameters

poly	obstacle polygon to add
odoPose	is the odoPose at scantime
outdoorObstacle	allows more separation if true
horizontalScan	if false, then tilted and allows correlation of rough grass areas
ignoreIfFixed	when true, then all obstacles that overlaps fixed obstacles gets ignored.

Returns: true if added

References UObstacleGroupLaser::addObstPoly(), UObstacle::getMargin(), and UPolygon::isOverlappingXYconvex().

UObstacleGroupLaser * UObstaclePool::advanceNewGroup ( )

Advance to next obstacle group, and return pointer to new cleared group.

References UObstacleGroup::clear(), UObstacleGroup::setSerial(), and UObstacleGroupLaser::UObstacleGroupLaser().

void UObstaclePool::clear ( void )

Clear all obstacles from obstacle pool, that is remove all obstacles from all groups, but maintain the groups with pose and other informations.

References UObstacleGroup::getPoseLast(), and UObstacleGroup::removeAllObsts().

Referenced by UFunctionPassable::handleObstGet().

void UObstaclePool::clearGrp ( int idx )

Clear all obstacles from obstacle group. The 'idx' is the group to clear, idx = 0 clears the newest group and idx 1..N clears corresponding older groups.

References UObstacleGroup::getPoseLast().

Referenced by UFunctionPassable::handleObstGet().

UObstacleGroup* UObstaclePool::getFixeds ( )

inline

Get pointer to obstacle group with near fixed obstacles

Referenced by UFunctionPassable::makePoly(), and UFunctionPassable::sendObstacles().

UObstacleGroupLaser * UObstaclePool::getGroup ( int fromNewest )

Get number of groups in history

Referenced by ULaserScan::findNearObstacles(), UFunctionPassable::makePoly(), UFunctionPassable::sendObstacles(), and UResObstacle::snprint().

int UObstaclePool::getGroupsCnt ( )

inline

Get number of groups in history

Referenced by ULaserScan::findNearObstacles(), UFunctionPassable::makePoly(), and UFunctionPassable::sendObstacles().

void UObstaclePool::getObstacleGroupSettings ( UObstacleGroupLaser * og )

virtual

Load parameter values from current settings pool to this obstacle group

Reimplemented in UResObstacle.

UObstacleGroupLaser * UObstaclePool::getObstGrp ( UPoseTime pt )

Get the obstacle group relevant for this time and robot position. Return pointer to the group.

References UObstacleGroup::getPoseFirst(), UObstacleGroup::logAll(), UObstacleGroup::removeInvalid(), UObstacleGroup::setPoseFirst(), UObstacleGroupLaser::setPosePrev(), UPoseTime::t, UPose::x, and UPose::y.

Referenced by ULaserScan::findNearObstacles(), and UFunctionPassable::handleObstGet().

void UObstaclePool::obstDataUpdated ( UTime poseTime )

virtual

Obstacle data is updated - tell resource

Reimplemented in UResObstacle.

Referenced by ULaserScan::findNearObstacles().

bool UObstaclePool::pointsToPolygon	(	ULaserScan *	scan,
		UPoseTime	odoPose,
		int	idx1,
		int	idx2,
		UPolygon *	p40,
		bool	outdoorObsts,
		bool	horizontalScan
	)

Convert parts of a laserscan to a convex polygon. The measurements are converted to odometry coordinates on return.

Parameters

scan	is the laserscan
odoPose	is the odometry pose at the time of the scan
idx1,idx2	is the first and last measurement to be converted into an obstacle polygon.
p40	is the destination polygon for the result.
outdoorObsts	if frue, then horizontal obstacles and tilted sensor is assumed, and an extra point is added to the polygon to allow better correlation.
horizontalScan	if true, then scan is assumed to be horizontal.

Returns: true if a valid polygon is created.

References UPolygon::add(), UPolygon::extractConvexTo(), UPolygon::getPoints(), UPolygon::getPointsCnt(), ULaserScan::getPos(), UObstacleGroupLaser::getPosePrev(), UPose::getPoseToMap(), UPosRot::getRtoMMatrix(), ULaserScan::getSensorPose(), UPolygon::removeNearVertex(), UPosRot::setPhi(), UPosRot::setZ(), and UPosition::x.

void UObstaclePool::print ( const char * prestr )

Add a series of UPosition positions as an obstacle. The position need not be orderd. A new obstacle group will be added as needed. At least one point is needed and no more than 400 can be handled. If 'firmObst' then obstacle hit count is set to 2 to avoid beeing removed if not correlated. Returns true if successful. Print status to console

void UObstaclePool::setFixedObstacles ( UObstacleGroup * fixedObstGrp )

inline

Set group of fixed obstacles

void UObstaclePool::setLogFile ( FILE * logFile )

Set obstacle logfile

void UObstaclePool::setNewGrpDist ( double value )

inline

Set distance traveled by robot before new obstacle group are to be formed (meter).

Referenced by UResObstacle::getObstacleGroupSettings().

void UObstaclePool::setNewGrpTime ( double value )

inline

Set time passed before new obstacle group are to be formed (in seconds).

Referenced by UResObstacle::getObstacleGroupSettings().

Member Data Documentation

UObstacleGroup* UObstaclePool::fixeds

protected

Group of fixed obstacles from a-priori map (mapbase)

Referenced by UResObstacle::updateMappedObstacles(), UResObstacle::UResObstacle(), and UResObstacle::~UResObstacle().

UObstacleGroupLaser* UObstaclePool::groups[MAX_OBSTACLE_GROUPS]

protected

Obstacle groups, each holding a coordinate-wise coherent set of obstacles - distance less than e.g 25 m from start to end pose.

int UObstaclePool::groupsCnt

protected

Actual used number of obstacle groups

Referenced by UResObstacle::obstDataUpdated(), and UResObstacle::snprint().

FILE* UObstaclePool::logo

protected

Obstacle logfile

const int UObstaclePool::MAX_OBSTACLE_GROUPS = 100

static

Max number of groups

int UObstaclePool::newest

protected

The most recent obstacle group. When out of groups, then reuse.

Referenced by UResObstacle::obstDataUpdated().

double UObstaclePool::newGroupTime

protected

Time passed before new obstacle group are to be formed (in seconds).

double UObstaclePool::newGrpDist

protected

Distance traveled by robot before new obstacle group are to be formed (meter).

unsigned long UObstaclePool::nextSerial

protected

Next serial number to use for obstacle group

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

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation