ArRangeBuffer Class Reference

#include <ArRangeBuffer.h>

List of all members.

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Detailed Description

This class is a buffer that holds ranging information.

Public Member Functions
void	addReading (double x, double y)
	Adds a new reading to the buffer.
void	addReadingConditional (double x, double y, double closeDist)
	Adds a new reading to the buffer if some conditions are met.
void	applyTransform (ArTransform trans)
	Applies a transform to the buffer.
	ArRangeBuffer (int size)
	Constructor.
void	beginInvalidationSweep (void)
	Begins a walk through the getBuffer list of readings.
void	beginRedoBuffer (void)
	This begins a redoing of the buffer.
void	clear (void)
	Clears all the readings in the range buffer.
void	clearOlderThan (int milliSeconds)
	Resets the readings older than this many seconds.
void	clearOlderThanSeconds (int seconds)
	Resets the readings older than this many seconds.
void	endInvalidationSweep (void)
	Ends the invalidation sweep.
void	endRedoBuffer (void)
	End redoing the buffer.
std::list< ArPoseWithTime * > *	getBuffer (void)
	Gets a pointer to a list of readings.
const std::list< ArPoseWithTime * > *	getBuffer (void) const
	Gets a pointer to a list of readings.
std::vector< ArPoseWithTime > *	getBufferAsVector (void)
	Gets the buffer as an array instead of as a std::list.
double	getClosestBox (double x1, double y1, double x2, double y2, ArPose position, unsigned int maxRange, ArPose *readingPos=NULL, ArPose targetPose=ArPose(0, 0, 0)) const
	Gets the closest reading, from a rectangular box, in robot LOCAL coords.
double	getClosestPolar (double startAngle, double endAngle, ArPose position, unsigned int maxRange, double *angle=NULL) const
	Gets the closest reading, on a polar system.
ArPose	getEncoderPoseTaken () const
	Gets the encoder pose of the robot when readings were taken.
ArPose	getPoseTaken () const
	Gets the pose of the robot when readings were taken.
size_t	getSize (void) const
	Gets the size of the buffer.
void	invalidateReading (std::list< ArPoseWithTime * >::iterator readingIt)
	While doing an invalidation sweep a reading to the list to be invalidated.
void	redoReading (double x, double y)
	Add a reading to the redoing of the buffer.
void	reset (void)
	same as clear, but old name
void	setEncoderPoseTaken (ArPose p)
	Sets the pose of the robot when readings were taken.
void	setPoseTaken (ArPose p)
	Sets the pose of the robot when readings were taken.
void	setSize (size_t size)
	Sets the size of the buffer.
virtual	~ArRangeBuffer ()
	Destructor.
Static Public Member Functions
static double	getClosestBoxInList (double x1, double y1, double x2, double y2, ArPose position, unsigned int maxRange, ArPose *readingPos, ArPose targetPose, const std::list< ArPoseWithTime * > *buffer)
	Gets the closest reading, from an arbitrary buffer.
static double	getClosestPolarInList (double startAngle, double endAngle, ArPose position, unsigned int maxRange, double *angle, const std::list< ArPoseWithTime * > *buffer)
	Gets the closest reading, from an arbitrary buffer.
Protected Attributes
std::list< ArPoseWithTime * >	myBuffer
ArPose	myBufferPose
ArPose	myEncoderBufferPose
bool	myHitEnd
std::list< ArPoseWithTime * >	myInvalidBuffer
std::list< std::list< ArPoseWithTime * >::iterator >::iterator	myInvalidIt
std::list< std::list< ArPoseWithTime * >::iterator >	myInvalidSweepList
std::list< ArPoseWithTime * >::iterator	myIterator
int	myNumRedone
ArPoseWithTime *	myReading
std::list< ArPoseWithTime * >::iterator	myRedoIt
std::list< ArPoseWithTime * >::reverse_iterator	myRevIterator
size_t	mySize
std::vector< ArPoseWithTime >	myVector

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Constructor & Destructor Documentation

ArRangeBuffer::ArRangeBuffer (  int  size  )

Constructor. Parameters: size  The size of the buffer, in number of readings

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Member Function Documentation

void ArRangeBuffer::addReading (  double  x, double  y )

Adds a new reading to the buffer. Parameters: x  the x position of the reading y  the y position of the reading

void ArRangeBuffer::addReadingConditional (  double  x, double  y, double  closeDistSquared )

Adds a new reading to the buffer if some conditions are met. Parameters: x  the x position of the reading y  the y position of the reading closeDistSquared  if the new reading is within closeDistSquared distanceSquared of an old point the old point is just updated for time

void ArRangeBuffer::applyTransform (  ArTransform  trans  )

Applies a transform to the buffer. Applies a transform to the buffers.. this is mostly useful for translating to/from local/global coords, but may have other uses Parameters: trans  the transform to apply to the data

void ArRangeBuffer::beginInvalidationSweep (  void   )

Begins a walk through the getBuffer list of readings. This is a set of funkiness used to invalid readings in the buffer. It is fairly complicated. But what you need to do, is set up the invalid sweeping with beginInvalidationSweep, then walk through the list of readings, and pass the iterator to a reading you want to invalidate to invalidateReading, then after you are all through walking the list call endInvalidationSweep. Look at the description of getBuffer for additional warnings. See also: invalidateReading endInvalidationSweep

void ArRangeBuffer::beginRedoBuffer (  void   )

This begins a redoing of the buffer. To redo the buffer means that you want to replace all of the readings in the buffer with new pose values, and get rid of the readings that you didn't update with new values (invalidate them). The three functions beginRedoBuffer(), redoReading(), and endRedoBuffer() are all made to enable you to do this. First call beginRedoBuffer(). Then for each reading you want to update in the buffer, call redoReading(double x, double y), then when you are done, call endRedoBuffer().

void ArRangeBuffer::endInvalidationSweep (  void   )

Ends the invalidation sweep. See the description of beginInvalidationSweep, it describes how to use this function. See also: beginInvalidationSweep invalidateReading

void ArRangeBuffer::endRedoBuffer (  void   )

End redoing the buffer. For a description of how to use this, see beginRedoBuffer()

std::list< ArPoseWithTime * > * ArRangeBuffer::getBuffer (  void   )

Gets a pointer to a list of readings. This function returns a pointer to a list that has all of the readings in it. This list is mostly for reference, ie for finding some particular value or for using the readings to draw them. Don't do any modification at all to the list unless you really know what you're doing... and if you do you'd better lock the rangeDevice this came from so nothing messes with the list while you are doing so. Returns: the list of positions this range buffer has

const std::list< ArPoseWithTime * > * ArRangeBuffer::getBuffer (  void   )  const

Gets a pointer to a list of readings. Java and Python Wrappers: Not available in Java or Python wrapper libraries.

std::vector< ArPoseWithTime > * ArRangeBuffer::getBufferAsVector (  void   )

Gets the buffer as an array instead of as a std::list. Copy the readings from this buffer to a vector stored within this object, and return a pointer to that vector. Note that the actual vector object is stored within ArRangeBuffer, be careful if accessing it from multiple threads. Returns: Pointer to reading vector.

double ArRangeBuffer::getClosestBox (  double  x1, double  y1, double  x2, double  y2, ArPose  startPos, unsigned int  maxRange, ArPose *  readingPos = NULL, ArPose  targetPose = ArPose(0, 0, 0) )  const

Gets the closest reading, from a rectangular box, in robot LOCAL coords. Gets the closest reading in a region defined by two points (opposeite points of a rectangle). Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point startPos  the position to find the closest reading to (usually the robots position) maxRange  the maximum range to return (and what to return if nothing found) readingPos  a pointer to a position in which to store the location of the closest position targetPose  the origin of the local coords for the definition of the coordinates, e.g. ArRobot::getPosition() to center the box on the robot Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

double ArRangeBuffer::getClosestBoxInList (  double  x1, double  y1, double  x2, double  y2, ArPose  startPos, unsigned int  maxRange, ArPose *  readingPos, ArPose  targetPose, const std::list< ArPoseWithTime * > *  buffer )  [static]

Gets the closest reading, from an arbitrary buffer. Get closest reading in a region defined by two points (opposeite points of a rectangle) from a given list readings (rather than the readings stored in an ArRangeBuffer) Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point startPos  the position to find the closest reading to (usually the robots position) maxRange  the maximum range to return (and what to return if nothing found) readingPos  a pointer to a position in which to store the location of the closest position targetPose  the origin of the local coords for the definition of the coordinates, normally just ArRobot::getPosition() buffer  Use the reading positions from this list targetPose  the pose to see if we're closest too (in local coordinates), this should nearly always be the default of 0 0 0 Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

double ArRangeBuffer::getClosestPolar (  double  startAngle, double  endAngle, ArPose  startPos, unsigned int  maxRange, double *  angle = NULL )  const

Gets the closest reading, on a polar system. Gets the closest reading in a region defined by startAngle going to endAngle... going counterclockwise (neg degrees to poseitive... with how the robot is set up, thats counterclockwise)... from -180 to 180... this means if you want the slice between 0 and 10 degrees, you must enter it as 0, 10, if you do 10, 0 you'll get the 350 degrees between 10 and 0... be especially careful with negative... for example -30 to -60 is everything from -30, around through 0, 90, and 180 back to -60... since -60 is actually to clockwise of -30 Parameters: startAngle  where to start the slice endAngle  where to end the slice, going clockwise from startAngle startPos  the position to find the closest reading to (usually the robots position) maxRange  the maximum range to return (and what to return if nothing found) angle  a pointer return of the angle to the found reading Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

void ArRangeBuffer::invalidateReading (  std::list< ArPoseWithTime * >::iterator  readingIt  )

While doing an invalidation sweep a reading to the list to be invalidated. See the description of beginInvalidationSweep, it describes how to use this function. Parameters: readingIt  the ITERATOR to the reading you want to get rid of See also: beginInvaladationSweep endInvalidationSweep

void ArRangeBuffer::redoReading (  double  x, double  y )

Add a reading to the redoing of the buffer. For a description of how to use this, see beginRedoBuffer() Parameters: x  the x param of the coord to add to the buffer y  the x param of the coord to add to the buffer

void ArRangeBuffer::setSize (  size_t  size  )

Sets the size of the buffer. If the new size is smaller than the current buffer it chops off the readings that are excess from the oldest readings... if the new size is larger then it just leaves room for the buffer to grow Parameters: size  number of readings to set the buffer to

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

• ArRangeBuffer.h
• ArRangeBuffer.cpp

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