MipBaselib::ScanMap Class Reference

#include <ScanMap.h>

List of all members.

Public Member Functions
	ScanMap (bool useGrid=true, BoundBox gridBoundBox=BoundBox())
	Constructor.
	~ScanMap ()
	Destructor.
void	pushBack (Scan &scan, Pose &pose)
	Adds a pair (scan,pose) to the map.
void	popBack ()
	Removes the last pair (scan,pose) from the map.
bool	findNearest (Pose &pose, Scan &scan, Decimal maxLinDist, Decimal maxAngDist)
	Finds the scan in the map whose pose is the nearest to the suggested pose and overwrites the result.
bool	getExpectedScan (Scan &expectedScan, Pose &expectedPose, Decimal range, unsigned int samples, Angle angWidth)
	Return the expected scan on the basis of the grid (valid only if grid is enabled).
bool	save (string fileName)
	Saves the map in a file.
bool	load (string fileName)
	Load the map from a file.
int	getSize ()
	Gets the number of pairs of the map.
void	getGrid (Grid *&grid, Position &gridCenter)
	Gets the grid pointer (0 if it is not used) and its pose.
int	getNumPoints ()
	Gets the number of points (positions) of the map.
int	getNumPoints (int numScan)
	Gets the number of points (positions) of a certain scan of the map.
Scan *	getScanPointer (int numScan)
	Gets the i-th scan pointer.
Pose *	getPosePointer (int numPose)
	Gets the i-th pose pointer.
void	setBisquit (int i)
	Sets a bisquit in the object.
int	createBisquit ()
	Sets a bisquit in the object.
bool	getBisquit (int i)
	Gets the bisquit in the object.
void	unsetBisquits ()
	Sets a bisquit in the object.
string	print ()
	Print the map content.

---

Constructor & Destructor Documentation

MipBaselib::ScanMap::ScanMap	(	bool	useGrid = true,
		BoundBox	gridBoundBox = BoundBox()
	)

Constructor.

Todo:

put width and height and pose in constructor

Todo:

set the gridmap pose, scale factor and other params

MipBaselib::ScanMap::~ScanMap

(

)

[inline]

Destructor.

---

Member Function Documentation

void MipBaselib::ScanMap::pushBack	(	Scan &	scan,
		Pose &	pose
	)

Adds a pair (scan,pose) to the map.

Parameters:

[in]	scan	Scan to add.
[in]	pose	Pose to add.

void MipBaselib::ScanMap::popBack

(

)

Removes the last pair (scan,pose) from the map.

Todo:

implement it in useMap modality

bool MipBaselib::ScanMap::findNearest	(	Pose &	pose,
		Scan &	scan,
		Decimal	maxLinDist,
		Decimal	maxAngDist
	)

Finds the scan in the map whose pose is the nearest to the suggested pose and overwrites the result.

Returns:

true if the a pair (scan,pose) inside the maxima is found, false otherwise.

Parameters:

	inout]&pose	Pose from which compute the distance, it will be ovrewritten with the nearest pose in the map (not changed if return is false ).
[out]	scan	Map scan (not changed if return is false ).
[in]	maxLinDist	Maximum linear difference between the found pose and the pose of the returned scan.
[in]	maxAngDist	Maximum angular difference between the found pose and the pose of the returned scan.

Todo:

Implement ScanMatchingMap::findNearest

bool MipBaselib::ScanMap::getExpectedScan	(	Scan &	expectedScan,
		Pose &	expectedPose,
		Decimal	range,
		unsigned int	samples,
		Angle	angWidth
	)

Return the expected scan on the basis of the grid (valid only if grid is enabled).

Returns:

true if grid is enabled.

Parameters:

[out]	&scan	Expected scan (not changed if return is false ).
[in]	pose	Pose of scan to take.
[in]	range	Max LinRange of the scan to take.
[in]	samples	Number of rays of the scan to take.
[in]	angWidth	Angular witdh of the scan to take.

bool MipBaselib::ScanMap::save

(

string

fileName

)

Saves the map in a file.

Returns:

true if done, false if failure.

Parameters:

inout]&fileName

File name.

bool MipBaselib::ScanMap::load

(

string

fileName

)

Load the map from a file.

Returns:

true if done, false if failure.

Parameters:

inout]&fileName

File name.

int MipBaselib::ScanMap::getSize

(

)

[inline]

Gets the number of pairs of the map.

Returns:

Number of pairs of the map.

void MipBaselib::ScanMap::getGrid	(	Grid *&	grid,
		Position &	gridCenter
	)			[inline]

Gets the grid pointer (0 if it is not used) and its pose.

Parameters:

[out]	*grid	Grid pointer.
[out]	&gridCenter	Grid center position (Non-sense if grid = 0).

int MipBaselib::ScanMap::getNumPoints

(

)

[inline]

Gets the number of points (positions) of the map.

Returns:

Number of points of the map.

int MipBaselib::ScanMap::getNumPoints

(

int

numScan

)

Gets the number of points (positions) of a certain scan of the map.

Returns:

Number of points of the i-th scan of the map, if the scan does not exists it returns 0.

Parameters:

[in]

numScan

Number of the scan to get the size

Scan * MipBaselib::ScanMap::getScanPointer

(

int

numScan

)

Gets the i-th scan pointer.

Returns:

Pointer to the i-th scan.

Pose * MipBaselib::ScanMap::getPosePointer

(

int

numPose

)

Gets the i-th pose pointer.

Returns:

Pointer to the i-th pose.

void MipBaselib::ScanMap::setBisquit

(

int

i

)

[inline]

Sets a bisquit in the object.

int MipBaselib::ScanMap::createBisquit

(

)

[inline]

Sets a bisquit in the object.

bool MipBaselib::ScanMap::getBisquit

(

int

i

)

[inline]

Gets the bisquit in the object.

void MipBaselib::ScanMap::unsetBisquits

(

)

[inline]

Sets a bisquit in the object.

string MipBaselib::ScanMap::print

(

)

Print the map content.

Returns:

Content.

---

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

• baselib/sensors/ScanMap.h
• baselib/sensors/ScanMap.cpp