#include <ArRangeBuffer.h>
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ArRangeBuffer (int size) | |
Constructor. More... | |
virtual | ~ArRangeBuffer (void) |
Destructor. | |
size_t | getSize (void) |
Gets the size of the buffer. | |
void | setSize (size_t size) |
Sets the size of the buffer. More... | |
ArPose | getPoseTaken () |
Gets the pose of the robot when readings were taken. | |
void | setPoseTaken (ArPose p) |
Sets the pose of the robot when readings were taken. | |
void | addReading (double x, double y) |
Adds a new reading to the buffer. More... | |
void | beginInvalidationSweep (void) |
Begins a walk through the getBuffer list of readings. More... | |
void | invalidateReading (std::list< ArPose *>::iterator readingIt) |
While doing an invalidation sweep a reading to the list to be invalidated. More... | |
void | endInvalidationSweep (void) |
Ends the invalidation sweep. More... | |
std::list< ArPose *> * | getBuffer (void) |
Gets a pointer to a list of readings. More... | |
double | getClosestPolar (double startAngle, double endAngle, ArPose position, unsigned int maxRange, double *angle=NULL) |
Gets the closest reading, on a polar system. More... | |
double | getClosestBox (double x1, double y1, double x2, double y2, ArPose position, unsigned int maxRange, ArPose *readingPos=NULL) |
Gets the closest reading, from a rectangular box, in robot LOCAL coords. More... | |
void | applyTransform (ArTransform trans) |
Applies a transform to the buffer. More... | |
void | reset (void) |
Resets the range buffer to empty (invalidates all readings). | |
void | beginRedoBuffer (void) |
This begins a redoing of the buffer. More... | |
void | redoReading (double x, double y) |
Add a reading to the redoing of the buffer. More... | |
void | endRedoBuffer (void) |
End redoing the buffer. More... |
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Constructor.
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Adds a new reading to the buffer.
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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
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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.
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This begins a redoing of the buffer. To redo the buffer means that you're going to want to replace all of the readings in the buffer, and get rid of the ones that you don't replace (invalidate them). The three functions beginRedoBuffer, redoReading, and endRedoBuffer are all made to enable you to do this. What you do, is call beginRedoBuffer(); then for each reading you want to be in the buffer, call redoReading(double x, double y), then when you are done, call endRedoBuffer(); |
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Ends the invalidation sweep. See the description of beginInvalidationSweep, it describes how to use this function.
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End redoing the buffer. For a description of how to use this, see beginRedoBuffer |
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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.
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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).
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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
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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.
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Add a reading to the redoing of the buffer. For a description of how to use this, see beginRedoBuffer
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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
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