#include <ufeaturepool.h>

Inheritance diagram for UFeatureData:

Public Member Functions
bool	addSegment (ULineSegment seg, int segInt, double segVal, const char idStr)

void	clear ()

const char *	getDataType ()

UTime	getScanTime ()

ULineSegment *	getSegs ()

int	getSegsCnt ()

int *	getSegsInt ()

int	getSegsMax ()

double *	getSegsVal ()

int	getTypeMax ()

bool	isA (const char *key)

bool	isValid ()

void	moveLocalToOdo (UPose scanPose, UPosRot sensorPose)

	UFeatureData ()

	~UFeatureData ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Attributes
int	coordinateRef

bool	isNewest

UPose	pose

UTime	scanTime

ULineSegment	segs [MAX_SEGMENTS]

int	segsCnt

int	segsInt [MAX_SEGMENTS]

char	segsStr [MAX_SEGMENTS][MAX_SEG_STR_LENGTH]

double	segsValue [MAX_SEGMENTS]

char	type [MAX_TYPE_LENGTH]

bool	valid

Static Public Attributes
static const int	MAX_SEG_STR_LENGTH = 16

static const int	MAX_SEGMENTS = 40

static const int	MAX_TYPE_LENGTH = 5

Constructor & Destructor Documentation

UFeatureData::UFeatureData ( )

Constructor

References clear().

UFeatureData::~UFeatureData ( )

Destructor

Member Function Documentation

bool UFeatureData::addSegment	(	ULineSegment *	seg,
		int	segInt,
		double	segVal,
		const char *	idStr
	)

add segment

References MAX_SEG_STR_LENGTH, MAX_SEGMENTS, segs, segsCnt, segsInt, segsStr, and segsValue.

Referenced by UFeaturePool::addData(), UResLaserIfSf::handlePass(), UResLaserIfSf::handleRoad(), and UResLaserIfSf::handleSF().

void UFeatureData::clear ( void )

Clear segments

References UTime::clear(), coordinateRef, scanTime, segsCnt, and valid.

Referenced by UFeaturePool::addData(), UFeaturePool::clear(), getSegsCnt(), and UFeatureData().

const char* UFeatureData::getDataType ( )

inline

Get line data type

References type.

Referenced by UNavPaint::paintFeatures(), and UNavView::paintFeatures().

UTime UFeatureData::getScanTime ( )

inline

Get segment scan time

References moveLocalToOdo(), and scanTime.

ULineSegment* UFeatureData::getSegs ( )

inline

Get line segment

References segs.

Referenced by UNavPaint::paintFeatures(), and UNavView::paintFeatures().

int UFeatureData::getSegsCnt ( )

inline

Get segment count

References clear(), and segsCnt.

Referenced by UNavPaint::paintFeatures(), and UNavView::paintFeatures().

int* UFeatureData::getSegsInt ( )

inline

Get line integer array

References segsInt.

Referenced by UNavPaint::paintFeatures(), and UNavView::paintFeatures().

int UFeatureData::getSegsMax ( )

inline

Get max number of segments allowed

References MAX_SEGMENTS.

double* UFeatureData::getSegsVal ( )

inline

Get (double) value array

References segsValue.

Referenced by UNavPaint::paintFeatures().

int UFeatureData::getTypeMax ( )

inline

Get max number of characters in type string

References MAX_TYPE_LENGTH.

Referenced by UFeaturePool::addData().

bool UFeatureData::isA ( const char * key )

inline

Compare this type with a key string. Compare is case sensitive. Returns true if type match.

References type.

Referenced by UFeaturePool::markAsNotNew().

bool UFeatureData::isValid ( )

inline

Is scan data valid

References valid.

void UFeatureData::moveLocalToOdo	(	UPose	scanPose,
		UPosRot	sensorPose
	)

Move data to odometry pose

References coordinateRef, ULineSegment::getOtherEnd(), UPose::getPoseToMap(), UPosRot::getRtoMMatrix(), ULine::pos, pose, segs, segsCnt, and ULineSegment::setFromPoints().

Referenced by getScanTime(), UResLaserIfSf::handlePass(), and UResLaserIfSf::handleSF().

Member Data Documentation

int UFeatureData::coordinateRef

Is the dataset valid in robot coordinates or anothe grid system valid values are -1 = local robot coordinates 0 odometry coordinates 1 UTM coordinates 2 map coordinates

Referenced by clear(), UResLaserIfSf::handleSF(), and moveLocalToOdo().

bool UFeatureData::isNewest

Is data the newest

Referenced by UFeaturePool::addData(), UFeaturePool::markAsNotNew(), and UNavPaint::paintFeatures().

const int UFeatureData::MAX_SEG_STR_LENGTH = 16

static

Max length of string value for a segment

Referenced by addSegment(), UResLaserIfSf::handleRoad(), and UResLaserIfSf::handleSF().

const int UFeatureData::MAX_SEGMENTS = 40

static

Max number of segments

Referenced by addSegment(), and getSegsMax().