ArMap Class Reference

#include <ArMap.h>

Inheritance diagram for ArMap:

List of all members.

Detailed Description

A map of a space the robot can navigate within, and which can be updated via the Aria config.

ArMap contains data that represents the operating space of the robot, and can be used for space searching, localizing, navigating etc. MobileRobots' ARNL and SONARNL localization and navigation libraries use ArMap objects. ArMap also provides methods to read and write the map from and to a file, along with a mechanism for setting the map file via the global Aria config.

Types of data stored in a map include sensable obstacles (e.g. walls and furniture in a room) that are represented either as a collection of data points or lines. The data points are similar to a raster or bit map and are useful for high resolution sensors like lasers. The lines create a vector map that is useful for low resolution sensors like sonar. For advanced applications, the sensable obstacle data can be categorized according to the type of scan or sensor; see ArMapScanInterface for more information.

In addition to the obstacle data, the Aria map may contain goals, forbidden areas, and other points and regions of interest (a.k.a. "map objects"). Advanced applications can extend the set of predefined map object types. See Map Objects for more information.

If the application needs to be aware of any changes that are made to the Aria map at runtime, then it should install "mapChanged" callbacks on the map. If the map file is re-read while the robot is running, then the callbacks are automatically invoked. If the application makes other changes to the map by calling any of the set methods, then it should call mapChanged() when it is finished.

See Map File Format for the exact format of the actual .map file.

Thread issuses, and changing the map

Different threads will need to access the same map data (for example ARNL, ArForbiddenRangeDevice, networking). However, the ArMap class is not inherently thread-safe. You must call lock() and unlock() methods, before and after any access to the map data (e.g. calls to getMapObjects(), getPoints(), setMapObjects(), setPoints()).

If you are going to use setMapObjects(), setPoints(), setLines(), or setMapInfo(), then you should lock() the map beforehand, call the methods, then call mapChanged() to invoke the callbacks, and then finally unlock() the map when done. Note that mapChanged() will only invoke the callbacks if the data has actually changed.

However, there is an exception: the readFile() and writeFile() methods do automatically lock the map while they read and write.

Map Objects

In addition to lines and points, maps may contain "map objects", points or regions in space that have special meaning.

Certain types of objects are predefined for all maps. These include Goal, GoalWithHeading, Dock, ForbiddenLine, ForbiddenArea, and RobotHome.

Goal and GoalWithHeading are basically named ArPoses, the difference being that the "th" (heading) value is only valid for GoalWithHeading.
Dock is an ArPose that must always have a heading.
ForbiddenLine is a boundary line, and ForbiddenArea is a rectangular "sector". The extents of these objects are given as a pair of poses, a "from" point and a "to" point.
RobotHome may be either an ArPose or a rectangular sector.

Rectangular objects may also have an associated angle of rotation, which is stored in the object pose theta value (ArMapObject::getPose().getTh()). The actual global coordinates of the rectangle must be calculated using this angle and its "from-to" values. You can get a list of the 4 ArLineSegment objects that comprise the rectangle's edges using ArMapObject::getFromToSegments(). If you want to do your own calculations, see ArMapObject::ArMapObject().

You can get a pointer to the current list of map objects with getMapObjects(), and directly modify the list. You can also replace the current list of map objects with a new one by calling setMapObjects(); this will destroy the old list of map objects. Call mapChanged() to notify other components that the map has changed.

In addition to the standard map object types, is also possible to define custom types of map objects using the "MapInfo" metadata section of the map file. For example, if you wished to program some special behavior that would only occur upon reaching certain goals, you could define a new "SpecialGoal" type in the map file, and check for it in your program. See Map File Format for the syntax for defining new object types in the map file. Custom types will appear in Mapper3 and MobilePlanner in drop-down menus, and instances of the custom types will be displayed in MobileEyes.

Important Note: if a map defines special GoalType or DockType items, then it must define all possible goal or dock types, including the default "Goal", "GoalWithHeading", and "Dock" types if you want those types to remain available.

Public Member Functions

virtual void addMapChangedCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

virtual void addPostWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

virtual void addPreMapChangedCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

virtual void addPreWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

virtual bool addToFileParser (ArFileParser *fileParser)

ArMap (const ArMap &other)

Copy constructor.

ArMap (const char *baseDirectory="./", bool addToGlobalConfig=true, const char *configSection="Files", const char *configParam="Map", const char *configDesc="Map of the environment that the robot uses for navigation", bool ignoreEmptyFileName=true, ArPriority::Priority priority=ArPriority::IMPORTANT, const char *tempDirectory=NULL)

Constructor.

virtual bool calculateChecksum (unsigned char *md5DigestBuffer, size_t md5DigestBufferLen)

void changeConfigMapName (const char *fileName)

Changes the config map name.

virtual void clear ()

virtual ArMapInterface * clone ()

virtual std::string createRealFileName (const char *fileName)

virtual ArMapObject * findFirstMapObject (const char *name, const char *type, bool isIncludeWithHeading=false)

virtual ArMapObject * findMapObject (const char *name, const char *type=NULL, bool isIncludeWithHeading=false)

virtual ArArgumentBuilder * findMapObjectParams (const char *mapObjectName)

virtual std::list< ArMapObject * > findMapObjectsOfType (const char *type, bool isIncludeWithHeading=false)

virtual const char * getBaseDirectory (void) const

virtual const char * getDisplayString (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual const char * getFileName (void) const

virtual bool getIgnoreCase (void)

virtual bool getIgnoreEmptyFileName (void)

virtual ArMapInfoInterface * getInactiveInfo ()

virtual ArMapObjectsInterface * getInactiveObjects ()

virtual std::list< ArArgumentBuilder * > * getInfo (int infoType)

virtual std::list< ArArgumentBuilder * > * getInfo (const char *infoName)

virtual int getInfoCount () const

virtual const char * getInfoName (int infoType)

virtual std::list< std::string > getInfoNames () const

virtual ArPose getLineMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArPose getLineMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual std::vector< ArLineSegment > * getLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArLog::LogLevel getMapChangedLogLevel (void)

virtual bool getMapId (ArMapId *mapIdOut, bool isInternalCall=false)

virtual std::list< ArArgumentBuilder * > * getMapInfo (void)

virtual std::list< ArMapObject * > * getMapObjects (void)

virtual ArPose getMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArPose getMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual int getNumLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual int getNumPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual double getOriginAltitude ()

virtual ArPose getOriginLatLong ()

virtual std::vector< ArPose > * getPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual struct stat getReadFileStat () const

virtual std::list< ArArgumentBuilder * > * getRemainder ()

virtual int getResolution (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual std::list< std::string > getScanTypes () const

virtual const char * getTempDirectory (void) const

virtual bool hasOriginLatLongAlt ()

virtual bool isLoadingDataStarted ()

virtual bool isLoadingLinesAndDataStarted ()

virtual bool isSortedLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const

virtual bool isSortedPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const

virtual void loadDataPoint (double x, double y)

virtual void loadLineSegment (double x1, double y1, double x2, double y2)

virtual int lock ()

virtual void mapChanged (void)

ArMap & operator= (const ArMap &other)

Assignment operator.

virtual bool parseLine (char *line)

virtual void parsingComplete (void)

virtual bool readDataPoint (char *line)

bool readFile (const char *fileName)

bool readFile (const char *fileName, char *errorBuffer, size_t errorBufferLen)

virtual bool readFile (const char *fileName, char *errorBuffer, size_t errorBufferLen, unsigned char *md5DigestBuffer, size_t md5DigestBufferLen)

bool readFileAndChangeConfig (const char *fileName)

Reads a map and changes the config map name to that file.

virtual bool readLineSegment (char *line)

virtual bool refresh ()

virtual bool remFromFileParser (ArFileParser *fileParser)

virtual void remMapChangedCB (ArFunctor *functor)

virtual void remPostWriteFileCB (ArFunctor *functor)

virtual void remPreMapChangedCB (ArFunctor *functor)

virtual void remPreWriteFileCB (ArFunctor *functor)

virtual bool set (ArMapInterface *other)

virtual void setBaseDirectory (const char *baseDirectory)

virtual void setIgnoreCase (bool ignoreCase=false)

virtual void setIgnoreEmptyFileName (bool ignore)

virtual bool setInfo (int infoType, const std::list< ArArgumentBuilder * > *infoList, ArMapChangeDetails *changeDetails=NULL)

virtual bool setInfo (const char *infoName, const std::list< ArArgumentBuilder * > *infoList, ArMapChangeDetails *changeDetails=NULL)

virtual void setLines (const std::vector< ArLineSegment > *lines, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedLines=false, ArMapChangeDetails *changeDetails=NULL)

virtual void setMapChangedLogLevel (ArLog::LogLevel level)

virtual bool setMapInfo (const std::list< ArArgumentBuilder * > *mapInfo, ArMapChangeDetails *changeDetails=NULL)

virtual bool setMapObjectParams (const char *mapObjectName, ArArgumentBuilder *params, ArMapChangeDetails *changeDetails=NULL)

virtual void setMapObjects (const std::list< ArMapObject * > *mapObjects, bool isSortedObjects=false, ArMapChangeDetails *changeDetails=NULL)

virtual void setOriginLatLongAlt (bool hasOriginLatLong, const ArPose &originLatLong, double altitude, ArMapChangeDetails *changeDetails=NULL)

virtual void setPoints (const std::vector< ArPose > *points, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedPoints=false, ArMapChangeDetails *changeDetails=NULL)

virtual void setQuiet (bool isQuiet)

virtual void setResolution (int resolution, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE, ArMapChangeDetails *changeDetails=NULL)

virtual bool setScanTypes (const std::list< std::string > &scanTypeList)

virtual void setSourceFileName (const char *sourceName, const char *fileName, bool isInternalCall=false)

virtual void setTempDirectory (const char *tempDirectory)

virtual int tryLock ()

virtual int unlock ()

virtual bool writeFile (const char *fileName)

virtual bool writeFile (const char *fileName, bool internalCall, unsigned char *md5DigestBuffer=NULL, size_t md5DigestBufferLen=0, time_t fileTimestamp=-1)

virtual void writeInfoToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars)

virtual void writeLinesToFunctor (ArFunctor2< int, std::vector< ArLineSegment > * > *functor, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char * > *keywordFunctor=NULL)

virtual void writeObjectListToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars)

virtual void writeObjectsToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars, bool isOverrideAsSingleScan=false, const char *maxCategory=NULL)

virtual void writePointsToFunctor (ArFunctor2< int, std::vector< ArPose > * > *functor, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char * > *keywordFunctor=NULL)

virtual void writeScanToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual void writeSupplementToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars)

virtual void writeToFunctor (ArFunctor1< const char * > *functor, const char *endOfLineChars)

virtual ~ArMap (void)

Destructor.

Protected Member Functions

bool processFile (char *errorBuffer, size_t errorBufferLen)

Processes changes to the Aria configuration; loads a new map file if necessary.

Protected Attributes

std::string myBaseDirectory

File path in which to find the map file name.

char myConfigMapName [MAX_MAP_NAME_LENGTH]

The name of the map file specified in the Aria config parameter.

std::string myConfigParam

Name of the Aria config parameter that specifies the map file name.

bool myConfigProcessedBefore

Whether the Aria config has already been processed at least once.

ArMapSimple *const myCurrentMap

The current map used by the robot.

std::string myFileName

Name of the map file.

bool myIgnoreCase

Whether to ignore case when comparing map file names.

bool myIgnoreEmptyFileName

Whether to ignore (not process) an empty Aria config parameter.

bool myIsQuiet

Whether to run in "quiet mode", i.e. logging less information.

ArMapSimple * myLoadingMap

The map that is being loaded, i.e. read from a file; will be copied to the current map if successful.

ArMutex myMutex

ArRetFunctor2C< bool, ArMap,
char *, size_t > myProcessFileCB

Callback that processes changes to the Aria config.

stat myReadFileStat

File statistics for the map file.

Constructor & Destructor Documentation

ArMap::ArMap ( const char * baseDirectory = "./",

bool addToGlobalConfig = true,

const char * configSection = "Files",

const char * configParam = "Map",

const char * configDesc = "Map of the environment that the robot uses for navigation",

bool ignoreEmptyFileName = true,

ArPriority::Priority priority = ArPriority::IMPORTANT,

const char * tempDirectory = NULL

)

Constructor.

Parameters:

baseDirectory the name of the directory in which to search for map files that are not fully qualified

addToGlobalConfig a bool set to true if the map file name parameter should be added to the global config, Aria::getConfig(); false, otherwise

configSection the char * name of the config section to which to add the map file name parameter name; applicable only if addToGlobalConfig is true

configParam the char * name of the parameter to be added to the specified configSection; applicable only if addToGlobalConfig is true

configDesc the char * description of the configParam; applicable only if addToGlobalConfig is true

ignoreEmptyFileName a bool set to true if an empty file name is a valid config parameter value; set to false if a failure should be reported when the file name is empty; applicable only if addToGlobalConfig is true

priority the ArPriority::Priority of the config parameter; applicable only if addToGlobalConfig is true

tempDirectory the name of the directory in which to write temporary files when saving a map; if NULL, then the map file is written directly. Note that using a temp file reduces the risk that the map will be corrupted if the application crashes.

Member Function Documentation

struct stat ArMap::getReadFileStat ( ) const [virtual]

Java and Python Wrappers: Not available in Java or Python wrapper libraries.
Implements ArMapInterface.

void ArMap::loadDataPoint ( double x,

double y

) [virtual]

Public for ArQClientMapProducer
Implements ArMapScanInterface.

ArMap & ArMap::operator= ( const ArMap & other )

Assignment operator.
myConfigParam myIgnoreEmptyFileName(false), myIgnoreCase(false),
myMapChangedHelper(NULL),
myConfigProcessedBefore(false), // TODO This is not always init in ArMap myConfigMapName(),
myIsQuiet(false),
myCurrentMapChangedCB(this, &ArMap::handleCurrentMapChanged), myProcessFileCB(this, &ArMap::processFile)

bool ArMap::readFile ( const char * fileName,

char * errorBuffer,

size_t errorBufferLen,

unsigned char * md5DigestBuffer,

size_t md5DigestBufferLen

) [virtual]

Java and Python Wrappers: Not available in Java or Python wrapper libraries. (can't write to arguments yet)
Implements ArMapInterface.

bool ArMap::writeFile ( const char * fileName,

bool internalCall,

unsigned char * md5DigestBuffer = NULL,

size_t md5DigestBufferLen = 0,

time_t fileTimestamp = -1

) [virtual]

Java and Python Wrappers: Not available in Java or Python wrapper libraries. (can't write to arguments yet)
Implements ArMapInterface.

The documentation for this class was generated from the following files:

ArMap.h
ArMap.cpp

Generated on Thu Jan 7 10:34:42 2010 for Aria by

1.4.2


Public Member Functions
virtual void	addMapChangedCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
virtual void	addPostWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
virtual void	addPreMapChangedCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
virtual void	addPreWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
virtual bool	addToFileParser (ArFileParser *fileParser)
	ArMap (const ArMap &other)
	Copy constructor.
	ArMap (const char baseDirectory="./", bool addToGlobalConfig=true, const char configSection="Files", const char configParam="Map", const char configDesc="Map of the environment that the robot uses for navigation", bool ignoreEmptyFileName=true, ArPriority::Priority priority=ArPriority::IMPORTANT, const char *tempDirectory=NULL)
	Constructor.
virtual bool	calculateChecksum (unsigned char *md5DigestBuffer, size_t md5DigestBufferLen)
void	changeConfigMapName (const char *fileName)
	Changes the config map name.
virtual void	clear ()
virtual ArMapInterface *	clone ()
virtual std::string	createRealFileName (const char *fileName)
virtual ArMapObject *	findFirstMapObject (const char name, const char type, bool isIncludeWithHeading=false)
virtual ArMapObject *	findMapObject (const char name, const char type=NULL, bool isIncludeWithHeading=false)
virtual ArArgumentBuilder *	findMapObjectParams (const char *mapObjectName)
virtual std::list< ArMapObject * >	findMapObjectsOfType (const char *type, bool isIncludeWithHeading=false)
virtual const char *	getBaseDirectory (void) const
virtual const char *	getDisplayString (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual const char *	getFileName (void) const
virtual bool	getIgnoreCase (void)
virtual bool	getIgnoreEmptyFileName (void)
virtual ArMapInfoInterface *	getInactiveInfo ()
virtual ArMapObjectsInterface *	getInactiveObjects ()
virtual std::list< ArArgumentBuilder * > *	getInfo (int infoType)
virtual std::list< ArArgumentBuilder * > *	getInfo (const char *infoName)
virtual int	getInfoCount () const
virtual const char *	getInfoName (int infoType)
virtual std::list< std::string >	getInfoNames () const
virtual ArPose	getLineMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual ArPose	getLineMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual std::vector< ArLineSegment > *	getLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual ArLog::LogLevel	getMapChangedLogLevel (void)
virtual bool	getMapId (ArMapId *mapIdOut, bool isInternalCall=false)
virtual std::list< ArArgumentBuilder * > *	getMapInfo (void)
virtual std::list< ArMapObject * > *	getMapObjects (void)
virtual ArPose	getMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual ArPose	getMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual int	getNumLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual int	getNumPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual double	getOriginAltitude ()
virtual ArPose	getOriginLatLong ()
virtual std::vector< ArPose > *	getPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual struct stat	getReadFileStat () const
virtual std::list< ArArgumentBuilder * > *	getRemainder ()
virtual int	getResolution (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual std::list< std::string >	getScanTypes () const
virtual const char *	getTempDirectory (void) const
virtual bool	hasOriginLatLongAlt ()
virtual bool	isLoadingDataStarted ()
virtual bool	isLoadingLinesAndDataStarted ()
virtual bool	isSortedLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const
virtual bool	isSortedPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const
virtual void	loadDataPoint (double x, double y)
virtual void	loadLineSegment (double x1, double y1, double x2, double y2)
virtual int	lock ()
virtual void	mapChanged (void)
ArMap &	operator= (const ArMap &other)
	Assignment operator.
virtual bool	parseLine (char *line)
virtual void	parsingComplete (void)
virtual bool	readDataPoint (char *line)
bool	readFile (const char *fileName)
bool	readFile (const char fileName, char errorBuffer, size_t errorBufferLen)
virtual bool	readFile (const char fileName, char errorBuffer, size_t errorBufferLen, unsigned char *md5DigestBuffer, size_t md5DigestBufferLen)
bool	readFileAndChangeConfig (const char *fileName)
	Reads a map and changes the config map name to that file.
virtual bool	readLineSegment (char *line)
virtual bool	refresh ()
virtual bool	remFromFileParser (ArFileParser *fileParser)
virtual void	remMapChangedCB (ArFunctor *functor)
virtual void	remPostWriteFileCB (ArFunctor *functor)
virtual void	remPreMapChangedCB (ArFunctor *functor)
virtual void	remPreWriteFileCB (ArFunctor *functor)
virtual bool	set (ArMapInterface *other)
virtual void	setBaseDirectory (const char *baseDirectory)
virtual void	setIgnoreCase (bool ignoreCase=false)
virtual void	setIgnoreEmptyFileName (bool ignore)
virtual bool	setInfo (int infoType, const std::list< ArArgumentBuilder * > infoList, ArMapChangeDetails changeDetails=NULL)
virtual bool	setInfo (const char infoName, const std::list< ArArgumentBuilder > infoList, ArMapChangeDetails changeDetails=NULL)
virtual void	setLines (const std::vector< ArLineSegment > lines, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedLines=false, ArMapChangeDetails *changeDetails=NULL)
virtual void	setMapChangedLogLevel (ArLog::LogLevel level)
virtual bool	setMapInfo (const std::list< ArArgumentBuilder * > mapInfo, ArMapChangeDetails changeDetails=NULL)
virtual bool	setMapObjectParams (const char mapObjectName, ArArgumentBuilder params, ArMapChangeDetails *changeDetails=NULL)
virtual void	setMapObjects (const std::list< ArMapObject * > mapObjects, bool isSortedObjects=false, ArMapChangeDetails changeDetails=NULL)
virtual void	setOriginLatLongAlt (bool hasOriginLatLong, const ArPose &originLatLong, double altitude, ArMapChangeDetails *changeDetails=NULL)
virtual void	setPoints (const std::vector< ArPose > points, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedPoints=false, ArMapChangeDetails *changeDetails=NULL)
virtual void	setQuiet (bool isQuiet)
virtual void	setResolution (int resolution, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArMapChangeDetails changeDetails=NULL)
virtual bool	setScanTypes (const std::list< std::string > &scanTypeList)
virtual void	setSourceFileName (const char sourceName, const char fileName, bool isInternalCall=false)
virtual void	setTempDirectory (const char *tempDirectory)
virtual int	tryLock ()
virtual int	unlock ()
virtual bool	writeFile (const char *fileName)
virtual bool	writeFile (const char fileName, bool internalCall, unsigned char md5DigestBuffer=NULL, size_t md5DigestBufferLen=0, time_t fileTimestamp=-1)
virtual void	writeInfoToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars)
virtual void	writeLinesToFunctor (ArFunctor2< int, std::vector< ArLineSegment > * > functor, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char * > *keywordFunctor=NULL)
virtual void	writeObjectListToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars)
virtual void	writeObjectsToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars, bool isOverrideAsSingleScan=false, const char *maxCategory=NULL)
virtual void	writePointsToFunctor (ArFunctor2< int, std::vector< ArPose > * > functor, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char * > *keywordFunctor=NULL)
virtual void	writeScanToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars, const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
virtual void	writeSupplementToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars)
virtual void	writeToFunctor (ArFunctor1< const char * > functor, const char endOfLineChars)
virtual	~ArMap (void)
	Destructor.
Protected Member Functions
bool	processFile (char *errorBuffer, size_t errorBufferLen)
	Processes changes to the Aria configuration; loads a new map file if necessary.
Protected Attributes
std::string	myBaseDirectory
	File path in which to find the map file name.
char	myConfigMapName [MAX_MAP_NAME_LENGTH]
	The name of the map file specified in the Aria config parameter.
std::string	myConfigParam
	Name of the Aria config parameter that specifies the map file name.
bool	myConfigProcessedBefore
	Whether the Aria config has already been processed at least once.
ArMapSimple *const	myCurrentMap
	The current map used by the robot.
std::string	myFileName
	Name of the map file.
bool	myIgnoreCase
	Whether to ignore case when comparing map file names.
bool	myIgnoreEmptyFileName
	Whether to ignore (not process) an empty Aria config parameter.
bool	myIsQuiet
	Whether to run in "quiet mode", i.e. logging less information.
ArMapSimple *	myLoadingMap
	The map that is being loaded, i.e. read from a file; will be copied to the current map if successful.
ArMutex	myMutex
ArRetFunctor2C< bool, ArMap, char *, size_t >	myProcessFileCB
	Callback that processes changes to the Aria config.
stat	myReadFileStat
	File statistics for the map file.