ClearingMobileRobot.cpp File Reference

#include <libplayerc++/playerc++.h>
#include <libplayercore/playercore.h>
#include <iostream>
#include <fstream>
#include <vector>
#include <list>
#include <assert.h>
#include <unistd.h>
#include <math.h>
#include <cstdlib>
#include <CommonOptions.h>
#include <Time.h>
#include "ClearingMobileRobot.h"
#include <ObsAvoiAlgoSND.h>

Functions
static void	_motionWork (void *p)
	scan callback for thread
static void	_motionClean (void *p)
	clean the continuous scan process (for thread)
int	pickIndexInRange (int iMin, int iMax)
double	angDistCCW (double angFrom, double angTo, bool bFixSmall)
Position	adjustViewPoint (Position initialPosition)
void	drawSquare (player_color_t color, Position pos, double border, bool bFill)
void	drawX (player_color_t color, Position pos, double width)
void	drawRedX (Position pos, double width)
Variables
static double	gMinLength
static int	gDebug = 0
static vector< player_color_t >	gColorVec
static player_color_t	gColorFrontier
static player_color_t	gColorObstacle
static player_color_t	gColorFreeArc
static player_color_t	gColorCapture
static player_color_t	gColorRed
static player_color_t	gColorBlue
static player_color_t	gColorGreen
static player_color_t	gColorGray
static player_color_t	gColorOrange
static ofstream	gLogFile
static Timer	gTotalTimer
static int	gIterCount
static Grid *	gGlobalGrid
static AgentVector	gAgentVector
static PlayerClient *	gRobot
static Graphics2dProxy *	gGP = NULL
static MapProxy *	gMP = NULL
static int	gMapWidth = -1
static int	gMapHeight = -1
static double	gMapResolution = -1
static int	gMinArcSize = 2
static int	gMinMergeArcSize = 1
static int	gMinRadialArcSize = 3
static double	gSafeRangeFrac = 0.92
static double	gCoverDistScalar = 1.0
static double	gOverlapFactor = 1.08

---

Function Documentation

static void _motionClean

(

void *

p

)

[static]

clean the continuous scan process (for thread)

static void _motionWork

(

void *

p

)

[static]

scan callback for thread

Position adjustViewPoint

(

Position

initialPosition

)

double angDistCCW	(	double	angFrom,
		double	angTo,
		bool	bFixSmall
	)

void drawRedX	(	Position	pos,
		double	width
	)

void drawSquare	(	player_color_t	color,
		Position	pos,
		double	border,
		bool	bFill
	)

void drawX	(	player_color_t	color,
		Position	pos,
		double	width
	)

int pickIndexInRange	(	int	iMin,
		int	iMax
	)

---

Variable Documentation

AgentVector gAgentVector [static]

player_color_t gColorBlue [static]

player_color_t gColorCapture [static]

player_color_t gColorFreeArc [static]

player_color_t gColorFrontier [static]

player_color_t gColorGray [static]

player_color_t gColorGreen [static]

player_color_t gColorObstacle [static]

player_color_t gColorOrange [static]

player_color_t gColorRed [static]

vector<player_color_t> gColorVec [static]

double gCoverDistScalar = 1.0 [static]

int gDebug = 0 [static]

Grid* gGlobalGrid [static]

Graphics2dProxy* gGP = NULL [static]

int gIterCount [static]

ofstream gLogFile [static]

int gMapHeight = -1 [static]

double gMapResolution = -1 [static]

int gMapWidth = -1 [static]

int gMinArcSize = 2 [static]

double gMinLength [static]

int gMinMergeArcSize = 1 [static]

int gMinRadialArcSize = 3 [static]

MapProxy* gMP = NULL [static]

double gOverlapFactor = 1.08 [static]

PlayerClient* gRobot [static]

double gSafeRangeFrac = 0.92 [static]

Timer gTotalTimer [static]