#include <unavview.h>

Inheritance diagram for UPaintBase:

Public Member Functions
void	addBox (UPose currentPose, pcl::visualization::PCLVisualizer viewer, pcl::ModelCoefficients params, double x, double y, double z, const char id, const double color[3])

void	addCircleCloud (UPose currentPose, pcl::visualization::PCLVisualizer viewer, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, double x, double y, double h, double radius, const char ID)

void	addCylinder (UPose currentPose, pcl::visualization::PCLVisualizer viewer, pcl::ModelCoefficients params, double x1, double y1, double z1, double x2, double y2, double z2, double radius, const char id, const double color[3])

void	addWheel (UPose currentPose, pcl::visualization::PCLVisualizer viewer, pcl::ModelCoefficients params, double x, double y, double h, double radius, double width, const char id)

const int	getCooSysView ()

pcl::PointXYZ	getInViewedCoordinates (UPose *local, int cooSysLocal, double z)

bool	isA (const char *testName)

void	makeCircleCloud (pcl::PointCloud< pcl::PointXYZ > cloud, UMatrix4 pose, double radius)

virtual const char *	name ()

virtual void	paint (UPose currentPose, pcl::visualization::PCLVisualizer viewer)

virtual void	setViewCooSys (int refSystem, UPose origin)

virtual void	unPaint (pcl::visualization::PCLVisualizer *viewer)

virtual void	unPaint (pcl::visualization::PCLVisualizer *viewer, int viewMaxHist)

	UPaintBase ()

Public Attributes
bool	bold

int	maxHist

Protected Attributes
int	cooSysSource

int	cooSysView

UPose	cooSysViewOrigin

Constructor & Destructor Documentation

UPaintBase::UPaintBase ( )

inline

References bold, cooSysSource, cooSysView, and maxHist.

Member Function Documentation

void UPaintBase::addBox	(	UPose *	currentPose,
		pcl::visualization::PCLVisualizer *	viewer,
		pcl::ModelCoefficients *	params,
		double	x,
		double	y,
		double	z,
		const char *	id,
		const double	color[3]
	)

add a solid box to the view

Parameters

currentPose	is robot pose
viewer	is the viewer
params	pointer to static set of box parameters. NB! params.values[7..9] must be set with box length (x), width (y) and height (z).
x,y,z	is the box-center in robot coordinates.
id	is the viewer ID (unique)
color[3]	is the RGB color of the box

References cooSysSource, cooSysView, cooSysViewOrigin, UPose::getPoseToMap(), UPose::h, UPosition::x, UPosition::y, and UPosition::z.

Referenced by URobotMmr::paint(), URobotIrobot::paint(), URobotHako::paint(), URobotGuidebot::paint(), URobotSmr::paint(), and setViewCooSys().

void UPaintBase::addCircleCloud	(	UPose *	currentPose,
		pcl::visualization::PCLVisualizer *	viewer,
		pcl::PointCloud< pcl::PointXYZ >::Ptr *	cloud,
		double	x,
		double	y,
		double	h,
		double	radius,
		const char *	ID
	)

View a vertical circle (a wheel) touching the ground (z=0).

Parameters

currentPose	is current robot pose, relative to wich the circle is to be generated
viewer	is the viewer to receive the data
cloud	is the cloud to modify
x,y	is the (ground) position of the wheel on the robot (x=forward, y=left)
h	= rotation of the wheel axis: pi/2 for a left wheel.
radius	is the wheel radius
id	is then viewer ID of the cloud.

References UPaintPcp::cloud, cooSysSource, cooSysView, cooSysViewOrigin, UPose::getPoseToMapPose(), UPosRot::getRtoMMatrix(), UPose::h, makeCircleCloud(), UPosRot::setFromPose(), UPose::x, UPose::y, and UPosition::z.

Referenced by setViewCooSys().

void UPaintBase::addCylinder	(	UPose *	currentPose,
		pcl::visualization::PCLVisualizer *	viewer,
		pcl::ModelCoefficients *	params,
		double	x1,
		double	y1,
		double	z1,
		double	x2,
		double	y2,
		double	z2,
		double	radius,
		const char *	id,
		const double	color[3]
	)

Vertical cylinder

Parameters

currentPose	is pose of robot
viewer	is PCLviewer to show this
params	is cylinder paramas (may be uninitialized - size 7)
x1,y1,z1	is center position on robot
x2,y2,z2	is center position on robot of other end
radius	is radius of cylinder
id	is unique id for this
color	is surface color

References cooSysSource, cooSysView, cooSysViewOrigin, UPose::getPoseToMapPose(), UPose::x, and UPose::y.

Referenced by URobotGuidebot::paint(), and setViewCooSys().

void UPaintBase::addWheel	(	UPose *	currentPose,
		pcl::visualization::PCLVisualizer *	viewer,
		pcl::ModelCoefficients *	params,
		double	x,
		double	y,
		double	h,
		double	radius,
		double	width,
		const char *	id
	)

Add wheel, i.e a cylinder laying down, just touching the ground

Parameters

viewer	- the viewer
params	a permanent available set of parameters (set and resized by the function)
x,y,h	the position and orientation of the wheel, i.e. h=pi/2 is a left wheel
radius	is the wheel radius in meters
width	is the width of the wheel (in meters)
id	is the unique id in the viewer of the wheel.

References cooSysSource, cooSysView, cooSysViewOrigin, UPose::getPoseToMapPose(), UPose::x, and UPose::y.

Referenced by URobotMmr::paint(), URobotIrobot::paint(), URobotHako::paint(), URobotGuidebot::paint(), URobotSmr::paint(), and setViewCooSys().

const int UPaintBase::getCooSysView ( )

inline

Get copy of coordinate system number

References cooSysView.

Referenced by UNavView::paintPointClouds(), and UNavView::paintScansNewest().

pcl::PointXYZ UPaintBase::getInViewedCoordinates	(	UPose *	local,
		int	cooSysLocal,
		double	z
	)

inline

Get coordinates in viewed coordinate system

Parameters

[in]	local	is a pointer to the pose in local coordinates
[in]	cooSysLocal	is number of coordinate system (0=odo 1=utm, 2=map)
[in]	z	is the value to put in the Z position

Returns: a pcl::PointXYZ value in viewed coordinates

References cooSysView, cooSysViewOrigin, UPose::getPoseToMapPose(), UPose::x, and UPose::y.

Referenced by UPaintManoeuvre::makeManCloud().

bool UPaintBase::isA ( const char * testName )

inline

is viewer this type

References name().

void UPaintBase::makeCircleCloud	(	pcl::PointCloud< pcl::PointXYZ > *	cloud,
		UMatrix4 *	pose,
		double	radius
	)

Make circular cloud

Parameters

cloud	The cloud to modify, if empty, then resized to hold circle
pose	the pose 6D of the center of the circle, if pose is a unit matrix, then circle rotation axis is around x-axis (on y-z plane) and center is in 0,0,0.
radius	is radius of circle.

References UPosition::x, UPosition::y, and UPosition::z.

Referenced by addCircleCloud(), and setViewCooSys().

virtual const char* UPaintBase::name ( )

inlinevirtual

get name (e.g. of robot)

Reimplemented in URobotSmr, URobotGuidebot, URobotHako, URobotIrobot, URobotMmr, and UPaintPcp.

Referenced by isA().