#include <ureslobst.h>

Inheritance diagram for UResLobst:

Public Member Functions
char *	codeLines (char *buff, int buffCnt)

int	getLineCnt ()

const char *	getList (const char preStr, char buff, const int buffCnt)

int	getObstGrpCnt ()

bool	makeObst (ULaserData scan, ULaserDevice las)

int	makeObstGroups (double splitDist, int firstCnt)

virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

bool	sendAsObstacles ()

	UResLobst ()

void	UResLobstInit ()

virtual	~UResLobst ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

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 UVarMethodImplement
virtual	~UVarMethodImplement ()

Public Member Functions inherited from ULogFile
void	closeLog ()

void	doFlush ()

FILE *	getF ()

const char *	getLogFileName ()

const char *	getLogName ()

bool	isLogOpen ()

bool	isOpen ()

void	logLock ()

bool	logRename (const char *name)

void	logUnlock ()

bool	openLog ()

bool	openLog (bool doOpen)

bool	openLog (const char *resName)

void	setLogFlush (bool doFlush)

void	setLogName (const char resName, const char ext="log")

void	setLogNameNumber (int number)
	add a number to the logfile name, That is if the logName is 'svs' and number is 2 (and logPath is '/rhome/demo'), then logfilename is set to '/rhome/demo/svs_2.log'. The purpose is to have an alternative, if the file renaming fails (if the file system is locked or something). More...

void	setLogTime (UTime timestamp)

void	toLog (const char *logString)

void	toLog (const char s1, const char s2)

void	toLog (const int num, const char s1, const char s2)

void	toLog (const char s1, const int num, const char s2)

void	toLog (const char s1, const int n1, const int n2, const char s2)

void	toLog (const char s1, const int num, const char s2, const char *s3)

void	toLog (const char s1, const int n1, const int n2, const char s2, const char *s3)

	ULogFile ()

void	useLogTime (bool value)

	~ULogFile ()

Public Attributes
bool	verbose

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Member Functions
void	createBaseVar ()

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
GFLine	lineList [MAX_RANSAC_LINES]

int	lineListCnt

int	obstGrpCnt
	number of found - and numbered - obstacle groups. More...

int	pntCnt
	number of measurements in array More...

int	pntUse [MPC]
	measurements point to line - or obstacle group - index. More...

double	pntX [MPC]
	measurements in angle order - X-coordinate (in robot coordiantes) More...

double	pntY [MPC]
	measurements in angle order - Y-coordinate (in robot coordiantes) More...

UTime	scantime
	scantime for latest scan More...

unsigned int	serial
	scan serial number More...

UVariable *	varDebugDumpScanOff
	set global debugDump flag for avoid plugin More...

UVariable *	varDebugDumpScanOn
	set global debugDump flag for avoid plugin More...

UVariable *	varDistThreshold
	ransac dist from line to support line More...

UVariable *	varEnableSplit
	enable spilit of long lines. More...

UVariable *	varIgnoreIfFixed
	ignore obstacles that correlated with fixed mapped obstacles More...

UVariable *	varLineCnt
	make polygons in poly-plugin for detected lines More...

UVariable *	varLineEatDist
	eat measurements this close to lines (after line creation) More...

UVariable *	varLineIter
	maximum number of line finding iterations More...

UVariable *	varMinLineSupport
	minimum number of supporting measurements to create line More...

UVariable *	varMinSplitCnt
	minimum measurements in split part of line More...

UVariable *	varNoObst
	area where obstacles should be ognored [x,y,x,y] front-left, back right More...

UVariable *	varObstCnt
	number of maintained obstacles More...

UVariable *	varSamples
	number of line samples to get best line More...

UVariable *	varScan
	most recent processed scan number More...

UVariable *	varSplit
	max distance between measurements to maintain line More...

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Protected Attributes inherited from ULogFile
int	failCnt

FILE *	logFile

ULock	logFileLock

char	logFileName [MAX_FILENAME_SIZE]

bool	logFlush

char	logName [MAX_FILENAME_SIZE]

UTime	logTime

bool	logTimeUse

Static Protected Attributes
static const int	MAX_RANSAC_LINES = 50

static const int	MPC = 1200
	measurements in angle order More...

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendents) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResLobst::UResLobst ( )

inline

Constructor

References codeLines(), getList(), makeObst(), makeObstGroups(), scan, sendAsObstacles(), UResBase::setResID(), UResLobstInit(), and ~UResLobst().

UResLobst::~UResLobst ( )

virtual

Destructor

Referenced by UResLobst().

Member Function Documentation

char * UResLobst::codeLines	(	char *	buff,
		int	buffCnt
	)

Code the result of the line estimates into a sequence of xml tags, like <line x="" y="" th="" l="" name="">
<line x="" ..-> />
<line x="" ..-> />

Parameters

buff	is the buffer to write the tags into.
buffCnt	is the size of the buffer.

Returns: a pointer to the buffer.

References U2Dseg::codeXml(), GFLine::endX, GFLine::endY, UResBase::line, lineList, lineListCnt, U2Dseg::setFromPoints(), GFLine::startX, and GFLine::startY.

Referenced by UFuncLobst::handleCommand(), and UResLobst().

void UResLobst::createBaseVar ( )

protected

Make the variables that will be available to other plugins

References UResVarPool::addMethod(), UResVarPool::addVar(), varDebugDumpScanOff, varDebugDumpScanOn, varDistThreshold, varEnableSplit, varIgnoreIfFixed, varLineCnt, varLineEatDist, varLineIter, varMinLineSupport, varMinSplitCnt, varNoObst, varObstCnt, varSamples, varScan, and varSplit.

Referenced by getLineCnt(), and UResLobstInit().

int UResLobst::getLineCnt ( )

inline

Get number of generated obstacle groups

References createBaseVar(), lineListCnt, and methodCallV().

Referenced by UFuncLobst::handleCommand().

const char * UResLobst::getList	(	const char *	preStr,
		char *	buff,
		const int	buffCnt
	)

Get list of found obstalcles

Referenced by UResLobst().

int UResLobst::getObstGrpCnt ( )

inline

Get number of generated obstacle groups

References obstGrpCnt.

Referenced by UFuncLobst::handleCommand().

bool UResLobst::makeObst	(	ULaserData *	scan,
		ULaserDevice *	las
	)

make obstalcles

Parameters

scan	is the laser scan to handle
las	is the source laser device

Returns: true if obstacles were found

References a, LEL_GFParams::distThreshold, LEL_GFParams::enableSplit, GFLine::endX, GFLine::endY, ULaserData::getAngleRad(), UVariable::getBool(), ULaserDevice::getDevicePose(), U2Dseg::getDistanceSigned(), UVariable::getDouble(), UVariable::getInt(), ULaserData::getRangeCnt(), ULaserData::getRangeMeter(), ULaserData::getScanTime(), ULaserData::getSerial(), UVariable::getValued(), URotation::Kappa, LEL_GFParams::lineIter, lineList, lineListCnt, makeObstGroups(), LEL_GFParams::minLineSupport, LEL_GFParams::minNoOfPoints, LEL_GFParams::minSplitCnt, obstGrpCnt, URotation::Phi, pntCnt, pntUse, pntX, pntY, ransac(), LEL_GFParams::sampleIter, scantime, serial, U2Dpos::set(), U2Dseg::setFromPoints(), UResVarPool::setGlobalVar(), UVariable::setInt(), UVariable::setValued(), LEL_GFParams::splitDist, GFLine::startX, GFLine::startY, varDebugDumpScanOff, varDebugDumpScanOn, varDistThreshold, varEnableSplit, varLineCnt, varLineEatDist, varLineIter, varMinLineSupport, varMinSplitCnt, varNoObst, varObstCnt, varSamples, varScan, varSplit, U2Dpos::x, UPosition::x, U2Dpos::y, and UPosition::y.

Referenced by UFuncLobst::handleCommand(), and UResLobst().

int UResLobst::makeObstGroups	(	double	splitDist,
		int	firstCnt
	)

Group remaining detections into obstacle groups - from points in calss array pntX, pntYm pntUse.

Parameters

splitDist	is distance to next point for split.
firstCnt	is the first number to use when grouping the measurements.

Returns: number of found groups.

References pntCnt, pntUse, pntX, pntY, U2Dpos::x, and U2Dpos::y.

Referenced by makeObst(), and UResLobst().

bool UResLobst::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement an inter plug-in method call using UVariables as parameter (and return value). Structures of the base type UDatabase (but not UVariables) may be returned in the returnStruct pointer array. The returnStructCnt should be set to returned count, if values are returned.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
params	is an array of UVariable pointers, one pointer for each character in paramOrder. NB! params are not declared as constant, and may be used to return values.
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer