ArMapInterface.h File Reference
Detailed Description
Contains the set of interfaces that define the Aria maps.
- Date:
- 06/27/08
- Author:
- K. Cunningham
The methods that define the Aria maps are grouped into a set of smaller interfaces which are contained in this file. These include:
- ArMapScanInterface : Methods related to scan data (e.g. points and lines) generally obtained from a specific sensor (such as the SICK laser or Hokuyo URG).
- ArMapObjectsInterface : Methods related to the objects in a map. These include user-defined objects such as goals, docks, and forbidden lines. They also include special "data" types of objects that may be automatically created during the scanning process.
- ArMapInfoInterface : Methods related to the various info arguments stored in a map. Examples of info include the map object type definitions and the routes and macros.
- ArMapSupplementInterface : Methods used to access supplemental data associated with the map. This currently consists only of the latitude / longitude of the origin, but may be extended in the future.
The primary interface implemented by all Aria maps is also contained in this file:
- ArMapInterface : All of the methods that are available for an Aria map. This interface extends all of the above interfaces and contains a few additional file-related methods.
In general, when passing an Aria map (pointer) as a parameter to a method, it is preferable to pass ArMapInterface *. This will allow for extension and different implementations of the interface.
ArMapScanInterface
^
| ArMapObjectsInterface
| ^
| | ArMapInfoInterface
| | ^
| | | ArMapSupplementInterface
| | | ^
| | | | (extends)
| | | |
ArMapInterface
#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArMapObject.h"
#include "ArMapUtils.h"
#include "ArFunctor.h"
#include "ArArgumentBuilder.h"
#include "ArMutex.h"
#include <vector>
#include <set>
|
Defines |
#define | ARMAP_DEFAULT_SCAN_TYPE "" |
| The default scan type indicator, when an Aria map only has obstacle data of one type.
|
#define | ARMAP_SUMMARY_SCAN_TYPE NULL |
| The scan type indicator used to obtain collective data from most or all obstacle data (see individual methods for how it is used for specific kinds of map data).
|
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