ArRangeBuffer Class Reference

This class is a buffer that holds ranging information. More...

#include <ArRangeBuffer.h>

List of all members.

Public Member Functions

void addReading (double x, double y)

Adds a new reading to the buffer.

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

Detailed Description

This class is a buffer that holds ranging information.

Definition at line 37 of file ArRangeBuffer.h.

Constructor & Destructor Documentation

ArRangeBuffer::ArRangeBuffer ( int size )

Constructor.

Parameters:

size The size of the buffer, in number of readings

Definition at line 33 of file ArRangeBuffer.cpp.

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

Definition at line 413 of file ArRangeBuffer.cpp.
References ArPose::setPose(), and ArPoseWithTime::setTimeToNow().
Referenced by ArBumpers::addBumpToBuffer(), ArSonarDevice::addReading(), ArRangeDevice::addReading(), ArSick::filterAddAndCleanCumulative(), ArIRs::processReadings(), and redoReading().

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

Definition at line 319 of file ArRangeBuffer.cpp.
References ArTransform::doTransform().
Referenced by ArSick::applyTransform(), and ArRangeDevice::applyTransform().

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

Definition at line 449 of file ArRangeBuffer.cpp.
Referenced by ArSonarDevice::addReading(), clearOlderThan(), endRedoBuffer(), ArSick::filterAddAndCleanCumulative(), and ArSonarDevice::processReadings().

void ArRangeBuffer::beginRedoBuffer ( void )

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();
Definition at line 362 of file ArRangeBuffer.cpp.
Referenced by clear(), ArSick::filterReadings(), and ArForbiddenRangeDevice::processReadings().

void ArRangeBuffer::endInvalidationSweep ( void )

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

Definition at line 473 of file ArRangeBuffer.cpp.
Referenced by ArSonarDevice::addReading(), clearOlderThan(), endRedoBuffer(), ArSick::filterAddAndCleanCumulative(), and ArSonarDevice::processReadings().

void ArRangeBuffer::endRedoBuffer ( void )

End redoing the buffer.
For a description of how to use this, see beginRedoBuffer
Definition at line 394 of file ArRangeBuffer.cpp.
References beginInvalidationSweep(), endInvalidationSweep(), and invalidateReading().
Referenced by clear(), ArSick::filterReadings(), and ArForbiddenRangeDevice::processReadings().

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

Definition at line 121 of file ArRangeBuffer.cpp.

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

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

Definition at line 107 of file ArRangeBuffer.cpp.
Referenced by ArSonarDevice::addReading(), ArSick::filterReadings(), ArRangeDevice::getCumulativeBuffer(), ArRangeDevice::getCurrentBuffer(), and ArSonarDevice::processReadings().

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

Gets the buffer as an array instead of as a std::list.
This will get the std::list of the buffer as an array of size getSize... the readings that don't have values will be set to NULL.

Returns:
pointer to an array of ArPoseWithTime * s

Definition at line 493 of file ArRangeBuffer.cpp.
Referenced by ArRangeDevice::getCumulativeBufferAsVector(), and ArRangeDevice::getCurrentBufferAsVector().

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

position the origin of the local coords for the definition of the coordinates, normally just ArRobot::getPosition

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

Definition at line 225 of file ArRangeBuffer.cpp.
References getClosestBoxInList().
Referenced by ArRangeDevice::cumulativeReadingBox(), and ArRangeDevice::currentReadingBox().

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.
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

position the origin of the local coords for the definition of the coordinates, normally just ArRobot::getPosition

list the buffer to check all this in

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

Definition at line 256 of file ArRangeBuffer.cpp.
References ArTransform::doTransform(), ArPose::findDistanceTo(), ArPose::getX(), ArPose::getY(), ArPose::setPose(), and ArTransform::setTransform().
Referenced by getClosestBox().

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

position the origin of the local coords for the definition of the coordinates, normally just ArRobot::getPosition

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

Definition at line 149 of file ArRangeBuffer.cpp.
References getClosestPolarInList().
Referenced by ArRangeDevice::cumulativeReadingPolar(), and ArRangeDevice::currentReadingPolar().

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

Definition at line 461 of file ArRangeBuffer.cpp.
Referenced by ArSonarDevice::addReading(), clearOlderThan(), endRedoBuffer(), ArSick::filterAddAndCleanCumulative(), and ArSonarDevice::processReadings().

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

Definition at line 374 of file ArRangeBuffer.cpp.
References addReading(), and ArPose::setPose().
Referenced by ArSick::filterReadings(), and ArForbiddenRangeDevice::processReadings().

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

Definition at line 76 of file ArRangeBuffer.cpp.
Referenced by ArRangeDevice::setCumulativeBufferSize(), and ArRangeDevice::setCurrentBufferSize().

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

Generated on Wed Oct 19 12:56:51 2005 for Aria by

1.4.0


Public Member Functions
void	addReading (double x, double y)
	Adds a new reading to the buffer.
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