#include <uobj3dpool.h>

Inheritance diagram for UObj3dGroup:

Public Member Functions
bool	addObstPoly (UPolygon *newpoly, UPoseTime pt, bool isHuman, bool isGndBased)

UPoseTime	getPosePrev ()

virtual UObstacle *	makeNewObst ()

void	setMergeDistance (double mergeDist, bool doMergeObstacles)

void	setPosePrev (UPoseTime pt)

	UObj3dGroup ()

	~UObj3dGroup ()

Public Member Functions inherited from UObstacleGroup
void	clear ()

virtual const char *	getDataType ()

int	getMaxObstsCnt ()

UObstacle *	getNewObst ()

UObstacle *	getObstacle (int idx)

UObstacle *	getObstacle (unsigned long oSerial, bool mayCreate, int *obstacleIndex)

int	getObstsCnt ()

UPoseTime	getPoseFirst ()

UPoseTime	getPoseLast ()

UPoseTime *	getPPoseFirst ()

UPoseTime *	getPPoseLast ()

unsigned long	getSerial ()

void	logAll (unsigned int serial, FILE *logo)

void	print (const char *prestr)

void	print (const char prestr, char buff, const int buffCnt, bool detail)

void	removeAllObsts ()

void	removeInvalid (UTime before, int hitLimit)

void	removeObst (int idx)

void	setPoseFirst (UPoseTime pose)

void	setPoseLast (UPoseTime pose)

void	setSerial (unsigned long value)

	UObstacleGroup ()

	~UObstacleGroup ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

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 ()

Protected Attributes
bool	mergeObstacles

double	obstacleMergeDistance

UPoseTime	posePrev

Protected Attributes inherited from UObstacleGroup
unsigned long	nextObstSerial

UObstacle *	obsts [MAX_OBSTACLES]

int	obstsCnt

UPoseTime	poseFirst

UPoseTime	poseLast

unsigned long	serial

Additional Inherited Members
Static Public Attributes inherited from UObstacleGroup
static const int	MAX_OBSTACLES = 500

Detailed Description

Obstacle group, that — within reason — can be assumed to have same reference coordinate system, based on odometry. That is, systematic errors in pose within group, can not be corrected for.

Constructor & Destructor Documentation

UObj3dGroup::UObj3dGroup ( )

Constructor

References mergeObstacles, and obstacleMergeDistance.

Referenced by UObj3dPool::advanceNewGroup().

UObj3dGroup::~UObj3dGroup ( )

Destructor

Member Function Documentation

bool UObj3dGroup::addObstPoly	(	UPolygon *	newpoly,
		UPoseTime	pt,
		bool	isHuman,
		bool	isGndBased
	)

Add this obstacle polygon. The polygon coordinates is assumed to be in odometry coordinates. If 'outdoorObsts', then an extra position is assumed added for correlation. This position is removed before any merge or create is implemented. Returns true if obstacle is merged or added successfuly

References UPolygon::add(), UObstacleVision::clear(), UPolygon::clear(), UPolygon::extractConvexTo(), UObstacle::getHits(), UObstacleGroup::getNewObst(), UPolygon::getPointsCnt(), UObstacle::getPoseFirst(), UObstacle::initPoseFirst(), UPolygon::isOverlappingXYconvex(), ULock::lock(), UObstacleGroup::MAX_OBSTACLES, maxi(), mergeObstacles, obstacleMergeDistance, UObstacleGroup::obsts, UObstacleGroup::obstsCnt, UObstacleGroup::poseLast, posePrev, UPolygon::removeNearVertex(), UObstacleGroup::removeObst(), UObstacle::setHits(), UObstacle::setPoseFirst(), UObstacle::setPoseLast(), UObstacle::setValid(), UPoseTime::t, and ULock::unlock().