MipBaselib::Grid Class Reference

Grid reapresentation for robot's sorrounding. More...

#include <Grid.h>

Inheritance diagram for MipBaselib::Grid:

List of all members.

Public Member Functions

Grid ()

Default constructor.

Grid (ExplorationParams params, Scan currScan, Pose center)

Parametric constructor.

Grid (ExplorationParams params, Scan currScan, Pose center, Decimal width, Decimal height, Decimal distForInvalid=0.3)

Second parametric constructor.

Grid (const Grid &g)

Copy constructor.

Grid operator= (const Grid &g)

Operator =.

~Grid ()

Destructor.

vector< Cell * > findFrameCells (int frame)

Returns the vector of pointer to the cells belonging to the specified frame.

vector< Cell * > bresenham (Cell *startCell, Cell *stopCell)

Implements the Bresenham algorithm for line rasterization.

void defineLSR ()

Finds LSR cells and sets properly boards' cells' flags.Cell's indexes are stored in _lsr.

void defineLSRBoundary (int iMinArcSize=3, int iMinRadialSize=1, bool bIncludeObstacleEndPoints=false)

Computes the celles belonging to LSR boundary (frontier and obstacles), and sets properly their flags.Cell's indexes are stored in _lsrBound.

void defineFrontier ()

Finds local frontier and sets properly boards' cells' flags. Frintier is organized in froniter arcs.

void defineLRR ()

Finds the LRR and LRR boundary and sets properly boards' cells' flags. Cell's indexes are stored in _lrr _lrrBound respectively.

unsigned int compCol (Decimal wid, Decimal res)

Computes the number of columns in the grid.

unsigned int compRow (Decimal hei, Decimal res)

Computes the number of rows in the grid.

void defineBoard (int iMinArcSize=3, int iMinRadialSize=1, bool bIncludeObstacleEndPoints=false)

Constructs the matricial rapresentation of the grid. Sets the fields of the cells composing the board and calls the functions for definition of LSR, LSR boundary, LRR, LRR boundary, Frontier.

void updateLSR ()

Updates LSR cells and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.

void updateFrontier ()

Finds Updates frontier and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.

bool initializeScan (ExplorationParams params, Scan &currScan)

void setParams (ExplorationParams value)

Sets _params camp.

void setResolution (Decimal value)

Sets board's resolution (equal to cell side size).

void setWidth (Decimal value)

Sets board's width.

void setHeight (Decimal value)

Sets board's height.

void setColumns (int value)

Sets board's columns.

void setRows (int value)

Sets board's rows.

void setCenter (Pose value)

Sets board's center.

void setCentralCell (Cell *value)

Sets board's central cell cell address.

void setLLC (Position value)

Sets board's LLC.

void setRLC (Position value)

Sets board's RLC.

void setLUC (Position value)

Sets board's LUC.

void setRUC (Position value)

Sets board's RUC.

Frontier frontier ()

Returns a vector of FrontierArc rapresenting the frontier of the grid.

LSRBound lsrBound ()

Returns boundary of LSR as a LSRBound (vector of DubInt).

LSR lsr ()

Returns LSR as a LSR (vector of DubInt).

LRR lrr ()

Returns LRR as a LRR (vector of DubInt).

void getExpectedScan (Scan &expScan, Pose pose, Decimal range, unsigned int samples, Angle angWidth)

Computes the expected scan from pose based on contents of grid.

ExplorationParams params ()

Returns the Exploration parameters.

Decimal resolution ()

Returns board's resolution (equal to cell side size).

Decimal width ()

Returns board's width.

Decimal height ()

Returns board's height.

int columns ()

Returns board's columns.

int rows ()

Returns board's rows.

Pose center ()

Returns center cell coordinates.

Cell * centralCell ()

Returns a pointer to board's central cell.

Position LLC ()

Returns LLC cell coordinates.

Position RLC ()

Returns RLC cell coordinates.

Position LUC ()

Returns LUC cell coordinates.

Position RUC ()

Returns RUC cell coordinates.

Cell * getCell (int index)

Returns the cell selected by its vector index.

Cell * getCell (int i, int j)

Returns the cell selected by its indexes.

Cell * getCell (DubInt indexes)

Returns the cell selected by its indexes.

Cell * getCell (Position pos)

Returns the cell selected by its position.

Cell * getCellOnGlobal (DubInt indexes, int minI, int minJ)

Returns the cell selected by its indexes.

Cell * getCellOnGlobal (Position pos, int minI, int minJ, Position globalCenter)

Returns the cell selected by its indexes.

string print (Cell cell)

Prints the charateristics of the specified cell (maybe better with Cell*).

void log (Cell cell)

Logs the charateristics of the specified cell in the file specified in _params(maybe better with Cell*).

string print ()

Prints the charateristics of the grid.

void log ()

Logs the charateristics of the grid.

Position alligne (Position pos)

Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).

void addScan (Scan &scan, Pose scanPose)

Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).

Public Attributes

ExplorationParams _params

Parameters for board initialization.

Scan _currScan

Scan associated to the grid.

Decimal _resolution

Cells side size[m].

Decimal _width

Grid width[m].

Decimal _height

Grid height[m].

Decimal _distForInvalid

Distance to assign to the invalid rays which fill a scan of less that 2 Pi [m].

unsigned int _columns

Number of grid columns (odd).

unsigned int _rows

Number of grid rows (odd).

Pose _center

Center cell pose w.r.t. the absolute frame.

Cell * _centralCell

Pointer to the central cell of the board (current position).

Position _LLC

Left Lower Corner cell coordinates w.r.t. the absolute frame.

Position _RLC

Right Lower Corner cell coordinates w.r.t. the absolute frame.

Position _LUC

Left Upper Corner cell coordinates w.r.t. the absolute frame.

Position _RUC

Right Upper Corner cell coordinates w.r.t. the absolute frame.

vector< Cell > _board

Matricial rapresentation of the grid.

LSR _lsr

Vector containing the indexes of the cells belonging to LSR.

LSRBound _lsrBound

Vector containing the indexes of the cells belonging to LSR boundary.

LRR _lrr

Vector containing the indexes of the cells belonging to LRR.

LRRBound _lrrBound

Vector containing the indexes of the cells belonging to LRR boundary.

Frontier _frontier

Vector containing the indexes of the cells belonging to Frontier.

LSRBound _originalFront

Vector containing the indexes of the cells belonging to Frontier after updating.

LSRBound _tempBound

Vector containing the indexes of the cells belonging to LSR boundary before updating.

Detailed Description

Grid reapresentation for robot's sorrounding.

Author:: Antonio Franchi and Marco Barbalinardo - email:barba82@yahoo.it

Date:: 2008/11/14

Todo:: privatize camps

Constructor & Destructor Documentation

MipBaselib::Grid::Grid ( )

Default constructor.

MipBaselib::Grid::Grid	(	ExplorationParams	params,
		Scan	currScan,
		Pose	center
	)

Parametric constructor.

MipBaselib::Grid::Grid	(	ExplorationParams	params,
		Scan	currScan,
		Pose	center,
		Decimal	width,
		Decimal	height,
		Decimal	distForInvalid = `0.3`
	)

Second parametric constructor.

MipBaselib::Grid::Grid ( const Grid & g )

Copy constructor.

MipBaselib::Grid::~Grid ( )

Destructor.

Member Function Documentation

Grid MipBaselib::Grid::operator= ( const Grid & g )

Operator =.

vector< Cell * > MipBaselib::Grid::findFrameCells ( int frame )

Returns the vector of pointer to the cells belonging to the specified frame.

vector< Cell * > MipBaselib::Grid::bresenham	(	Cell *	startCell,
		Cell *	stopCell
	)

Implements the Bresenham algorithm for line rasterization.

void MipBaselib::Grid::defineLSR ( )

Finds LSR cells and sets properly boards' cells' flags.Cell's indexes are stored in _lsr.

void MipBaselib::Grid::defineLSRBoundary	(	int	iMinArcSize = `3`,
		int	iMinRadialSize = `1`,
		bool	bIncludeObstacleEndPoints = `false`
	)

Computes the celles belonging to LSR boundary (frontier and obstacles), and sets properly their flags.Cell's indexes are stored in _lsrBound.

valid ||

void MipBaselib::Grid::defineFrontier ( )

Finds local frontier and sets properly boards' cells' flags. Frintier is organized in froniter arcs.

void MipBaselib::Grid::defineLRR ( )

Finds the LRR and LRR boundary and sets properly boards' cells' flags. Cell's indexes are stored in _lrr _lrrBound respectively.

unsigned int MipBaselib::Grid::compCol	(	Decimal	wid,
		Decimal	res
	)

Computes the number of columns in the grid.

Parameters:

	wid	Grid width in meters.
	res	Cells side size in meters.

unsigned int MipBaselib::Grid::compRow	(	Decimal	hei,
		Decimal	res
	)

Computes the number of rows in the grid.

Parameters:

	hei	Grid height in meters.
	res	Cells side size in meters.

void MipBaselib::Grid::defineBoard	(	int	iMinArcSize = `3`,
		int	iMinRadialSize = `1`,
		bool	bIncludeObstacleEndPoints = `false`
	)

Constructs the matricial rapresentation of the grid. Sets the fields of the cells composing the board and calls the functions for definition of LSR, LSR boundary, LRR, LRR boundary, Frontier.

void MipBaselib::Grid::updateLSR ( )

Updates LSR cells and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.

void MipBaselib::Grid::updateFrontier ( )

Finds Updates frontier and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.

bool MipBaselib::Grid::initializeScan	(	ExplorationParams	params,
		Scan &	currScan
	)

Todo:: Comment.

void MipBaselib::Grid::setParams ( ExplorationParams value )

Sets _params camp.

void MipBaselib::Grid::setResolution ( Decimal value )

Sets board's resolution (equal to cell side size).

Parameters:

value

Board's resolution to set.

void MipBaselib::Grid::setWidth ( Decimal value )

Sets board's width.

Parameters:

value

Board's width to set.

void MipBaselib::Grid::setHeight ( Decimal value )

Sets board's height.

Parameters:

value

Board's height to set.

void MipBaselib::Grid::setColumns ( int value )

Sets board's columns.

Parameters:

value

Board's columns to set.

void MipBaselib::Grid::setRows ( int value )

Sets board's rows.

Parameters:

value

Board's rows to set.

void MipBaselib::Grid::setCenter ( Pose value )

Sets board's center.

Parameters:

value

Board's center to set.

void MipBaselib::Grid::setCentralCell ( Cell * value )

Sets board's central cell cell address.

Parameters:

value

Board's center to set.

void MipBaselib::Grid::setLLC ( Position value )

Sets board's LLC.

Parameters:

value

Board's Left Lower Corner to set.

void MipBaselib::Grid::setRLC ( Position value )

Sets board's RLC.

Parameters:

value

Board's Right Lower Corner to set.

void MipBaselib::Grid::setLUC ( Position value )

Sets board's LUC.

Parameters:

value

Board's Left Upper Corner to set.

void MipBaselib::Grid::setRUC ( Position value )

Sets board's RUC.

Parameters:

value

Board's Right Upper Corner to .

Frontier MipBaselib::Grid::frontier ( )

Returns a vector of FrontierArc rapresenting the frontier of the grid.

LSRBound MipBaselib::Grid::lsrBound ( )

Returns boundary of LSR as a LSRBound (vector of DubInt).

LSR MipBaselib::Grid::lsr ( )

Returns LSR as a LSR (vector of DubInt).

LRR MipBaselib::Grid::lrr ( )

Returns LRR as a LRR (vector of DubInt).

void MipBaselib::Grid::getExpectedScan	(	Scan &	expScan,
		Pose	pose,
		Decimal	range,
		unsigned int	samples,
		Angle	angWidth
	)

Computes the expected scan from pose based on contents of grid.

Parameters:

`[out]`	&expScan	The expected scan from pose based on contents of grid.
`[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.

ExplorationParams MipBaselib::Grid::params ( )

Returns the Exploration parameters.

Decimal MipBaselib::Grid::resolution ( )

Returns board's resolution (equal to cell side size).

Decimal MipBaselib::Grid::width ( )

Returns board's width.

Decimal MipBaselib::Grid::height ( )

Returns board's height.

int MipBaselib::Grid::columns ( )

Returns board's columns.

int MipBaselib::Grid::rows ( )

Returns board's rows.

Pose MipBaselib::Grid::center ( )

Returns center cell coordinates.

Cell * MipBaselib::Grid::centralCell ( )

Returns a pointer to board's central cell.

Position MipBaselib::Grid::LLC ( )

Returns LLC cell coordinates.

Position MipBaselib::Grid::RLC ( )

Returns RLC cell coordinates.

Position MipBaselib::Grid::LUC ( )

Returns LUC cell coordinates.

Position MipBaselib::Grid::RUC ( )

Returns RUC cell coordinates.

Cell * MipBaselib::Grid::getCell ( int index )

Returns the cell selected by its vector index.

Cell * MipBaselib::Grid::getCell	(	int	i,
		int	j
	)

Returns the cell selected by its indexes.

Cell * MipBaselib::Grid::getCell ( DubInt indexes )

Returns the cell selected by its indexes.

Cell * MipBaselib::Grid::getCell ( Position pos )

Returns the cell selected by its position.

Cell * MipBaselib::Grid::getCellOnGlobal	(	DubInt	indexes,
		int	minI,
		int	minJ
	)

Returns the cell selected by its indexes.

Cell * MipBaselib::Grid::getCellOnGlobal	(	Position	pos,
		int	minI,
		int	minJ,
		Position	globalCenter
	)

Returns the cell selected by its indexes.

string MipBaselib::Grid::print ( Cell cell )

Prints the charateristics of the specified cell (maybe better with Cell*).

void MipBaselib::Grid::log ( Cell cell )

Logs the charateristics of the specified cell in the file specified in _params(maybe better with Cell*).

string MipBaselib::Grid::print ( )

Prints the charateristics of the grid.

void MipBaselib::Grid::log ( )

Logs the charateristics of the grid.

Position MipBaselib::Grid::alligne ( Position pos )

Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).

void MipBaselib::Grid::addScan	(	Scan &	scan,
		Pose	scanPose
	)

Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).

Member Data Documentation

ExplorationParams MipBaselib::Grid::_params

Parameters for board initialization.

Scan MipBaselib::Grid::_currScan

Scan associated to the grid.

Decimal MipBaselib::Grid::_resolution

Cells side size[m].

Decimal MipBaselib::Grid::_width

Grid width[m].

Decimal MipBaselib::Grid::_height

Grid height[m].

Decimal MipBaselib::Grid::_distForInvalid

Distance to assign to the invalid rays which fill a scan of less that 2 Pi [m].

unsigned int MipBaselib::Grid::_columns

Number of grid columns (odd).

unsigned int MipBaselib::Grid::_rows

Number of grid rows (odd).

Pose MipBaselib::Grid::_center

Center cell pose w.r.t. the absolute frame.

Cell* MipBaselib::Grid::_centralCell

Pointer to the central cell of the board (current position).

Position MipBaselib::Grid::_LLC

Left Lower Corner cell coordinates w.r.t. the absolute frame.

Position MipBaselib::Grid::_RLC

Right Lower Corner cell coordinates w.r.t. the absolute frame.

Position MipBaselib::Grid::_LUC

Left Upper Corner cell coordinates w.r.t. the absolute frame.

Position MipBaselib::Grid::_RUC

Right Upper Corner cell coordinates w.r.t. the absolute frame.

vector<Cell> MipBaselib::Grid::_board

Matricial rapresentation of the grid.

LSR MipBaselib::Grid::_lsr

Vector containing the indexes of the cells belonging to LSR.

LSRBound MipBaselib::Grid::_lsrBound

Vector containing the indexes of the cells belonging to LSR boundary.

LRR MipBaselib::Grid::_lrr

Vector containing the indexes of the cells belonging to LRR.

LRRBound MipBaselib::Grid::_lrrBound

Vector containing the indexes of the cells belonging to LRR boundary.

Frontier MipBaselib::Grid::_frontier

Vector containing the indexes of the cells belonging to Frontier.

LSRBound MipBaselib::Grid::_originalFront

Vector containing the indexes of the cells belonging to Frontier after updating.

LSRBound MipBaselib::Grid::_tempBound

Vector containing the indexes of the cells belonging to LSR boundary before updating.

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

baselib/Grid/Grid.h
baselib/Grid/Grid.cpp


Public Member Functions
	Grid ()
	Default constructor.
	Grid (ExplorationParams params, Scan currScan, Pose center)
	Parametric constructor.
	Grid (ExplorationParams params, Scan currScan, Pose center, Decimal width, Decimal height, Decimal distForInvalid=0.3)
	Second parametric constructor.
	Grid (const Grid &g)
	Copy constructor.
Grid	operator= (const Grid &g)
	Operator =.
	~Grid ()
	Destructor.
vector< Cell * >	findFrameCells (int frame)
	Returns the vector of pointer to the cells belonging to the specified frame.
vector< Cell * >	bresenham (Cell startCell, Cell stopCell)
	Implements the Bresenham algorithm for line rasterization.
void	defineLSR ()
	Finds LSR cells and sets properly boards' cells' flags.Cell's indexes are stored in _lsr.
void	defineLSRBoundary (int iMinArcSize=3, int iMinRadialSize=1, bool bIncludeObstacleEndPoints=false)
	Computes the celles belonging to LSR boundary (frontier and obstacles), and sets properly their flags.Cell's indexes are stored in _lsrBound.
void	defineFrontier ()
	Finds local frontier and sets properly boards' cells' flags. Frintier is organized in froniter arcs.
void	defineLRR ()
	Finds the LRR and LRR boundary and sets properly boards' cells' flags. Cell's indexes are stored in _lrr _lrrBound respectively.
unsigned int	compCol (Decimal wid, Decimal res)
	Computes the number of columns in the grid.
unsigned int	compRow (Decimal hei, Decimal res)
	Computes the number of rows in the grid.
void	defineBoard (int iMinArcSize=3, int iMinRadialSize=1, bool bIncludeObstacleEndPoints=false)
	Constructs the matricial rapresentation of the grid. Sets the fields of the cells composing the board and calls the functions for definition of LSR, LSR boundary, LRR, LRR boundary, Frontier.
void	updateLSR ()
	Updates LSR cells and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.
void	updateFrontier ()
	Finds Updates frontier and sets properly boards' cells' flags. Used after grid comparison for ExplorationGraph update.
bool	initializeScan (ExplorationParams params, Scan &currScan)
void	setParams (ExplorationParams value)
	Sets _params camp.
void	setResolution (Decimal value)
	Sets board's resolution (equal to cell side size).
void	setWidth (Decimal value)
	Sets board's width.
void	setHeight (Decimal value)
	Sets board's height.
void	setColumns (int value)
	Sets board's columns.
void	setRows (int value)
	Sets board's rows.
void	setCenter (Pose value)
	Sets board's center.
void	setCentralCell (Cell *value)
	Sets board's central cell cell address.
void	setLLC (Position value)
	Sets board's LLC.
void	setRLC (Position value)
	Sets board's RLC.
void	setLUC (Position value)
	Sets board's LUC.
void	setRUC (Position value)
	Sets board's RUC.
Frontier	frontier ()
	Returns a vector of FrontierArc rapresenting the frontier of the grid.
LSRBound	lsrBound ()
	Returns boundary of LSR as a LSRBound (vector of DubInt).
LSR	lsr ()
	Returns LSR as a LSR (vector of DubInt).
LRR	lrr ()
	Returns LRR as a LRR (vector of DubInt).
void	getExpectedScan (Scan &expScan, Pose pose, Decimal range, unsigned int samples, Angle angWidth)
	Computes the expected scan from pose based on contents of grid.
ExplorationParams	params ()
	Returns the Exploration parameters.
Decimal	resolution ()
	Returns board's resolution (equal to cell side size).
Decimal	width ()
	Returns board's width.
Decimal	height ()
	Returns board's height.
int	columns ()
	Returns board's columns.
int	rows ()
	Returns board's rows.
Pose	center ()
	Returns center cell coordinates.
Cell *	centralCell ()
	Returns a pointer to board's central cell.
Position	LLC ()
	Returns LLC cell coordinates.
Position	RLC ()
	Returns RLC cell coordinates.
Position	LUC ()
	Returns LUC cell coordinates.
Position	RUC ()
	Returns RUC cell coordinates.
Cell *	getCell (int index)
	Returns the cell selected by its vector index.
Cell *	getCell (int i, int j)
	Returns the cell selected by its indexes.
Cell *	getCell (DubInt indexes)
	Returns the cell selected by its indexes.
Cell *	getCell (Position pos)
	Returns the cell selected by its position.
Cell *	getCellOnGlobal (DubInt indexes, int minI, int minJ)
	Returns the cell selected by its indexes.
Cell *	getCellOnGlobal (Position pos, int minI, int minJ, Position globalCenter)
	Returns the cell selected by its indexes.
string	print (Cell cell)
	Prints the charateristics of the specified cell (maybe better with Cell*).
void	log (Cell cell)
	Logs the charateristics of the specified cell in the file specified in _params(maybe better with Cell*).
string	print ()
	Prints the charateristics of the grid.
void	log ()
	Logs the charateristics of the grid.
Position	alligne (Position pos)
	Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).
void	addScan (Scan &scan, Pose scanPose)
	Returns the Position of the cell corresponding to generic Position pos. Used to alligne the centers of different grid (ExplorationGraph update).
Public Attributes
ExplorationParams	_params
	Parameters for board initialization.
Scan	_currScan
	Scan associated to the grid.
Decimal	_resolution
	Cells side size[m].
Decimal	_width
	Grid width[m].
Decimal	_height
	Grid height[m].
Decimal	_distForInvalid
	Distance to assign to the invalid rays which fill a scan of less that 2 Pi [m].
unsigned int	_columns
	Number of grid columns (odd).
unsigned int	_rows
	Number of grid rows (odd).
Pose	_center
	Center cell pose w.r.t. the absolute frame.
Cell *	_centralCell
	Pointer to the central cell of the board (current position).
Position	_LLC
	Left Lower Corner cell coordinates w.r.t. the absolute frame.
Position	_RLC
	Right Lower Corner cell coordinates w.r.t. the absolute frame.
Position	_LUC
	Left Upper Corner cell coordinates w.r.t. the absolute frame.
Position	_RUC
	Right Upper Corner cell coordinates w.r.t. the absolute frame.
vector< Cell >	_board
	Matricial rapresentation of the grid.
LSR	_lsr
	Vector containing the indexes of the cells belonging to LSR.
LSRBound	_lsrBound
	Vector containing the indexes of the cells belonging to LSR boundary.
LRR	_lrr
	Vector containing the indexes of the cells belonging to LRR.
LRRBound	_lrrBound
	Vector containing the indexes of the cells belonging to LRR boundary.
Frontier	_frontier
	Vector containing the indexes of the cells belonging to Frontier.
LSRBound	_originalFront
	Vector containing the indexes of the cells belonging to Frontier after updating.
LSRBound	_tempBound
	Vector containing the indexes of the cells belonging to LSR boundary before updating.