MipBaselib::PerceptionCellState Class Reference

A class representing the state of a cell. More...

#include <PerceptionGrid.h>

List of all members.

Public Member Functions
	PerceptionCellState ()
	Void constructor.
	~PerceptionCellState ()
	Destructor.
	PerceptionCellState (const PerceptionCellState &perceptionCellstate)
	Copy constructor.
PerceptionCellState &	operator= (const PerceptionCellState &c)
	Operator =.
void	setIsLSRContour ()
	Sets the cell to LSRcontour.
void	setIsNotLSRContour ()
	Sets the cell to not LSRcontour.
bool	isLSRContour ()
	Says if the cell is LSRContour.
void	setState (bool unknown, int thirdType, bool local, bool exploredOnce)
	Method to set the state.
void	setLocal ()
	Sets the cell to local, remembering its previous state.
void	setNotLocal ()
	Sets the cell to not local, remembering its previous state.
void	setIsUnknown ()
	Sets the cell state to unknown.
void	setIsFrontier ()
	Sets the cell state to frontier.
void	setIsInternalNonFree ()
	Sets the cell state to internal non free.
void	setIsInternalFree ()
	Sets the cell state to internal free.
void	setIsObstacle ()
	Sets the cell state to internal free.
bool	isLocal ()
	Tells wether the cell is local or not.
bool	wasLocal ()
	Tells if the cell was local before the last time it has been set to unlocal.
bool	isLRR ()
	Tells if cell is LRR.
bool	isFrontier ()
	Tells if cell is Frontier.
bool	isLSR ()
	Tells if cell is LSR.
bool	isPrevExpl ()
	Tells if cell is previously explored.
bool	isObstacle ()
	Tells if cell is obstacle.
bool	isInternalFree ()
	Tells if cell is Internal Free.
bool	isInternalNonFree ()
	Tells if cell is Internal Non Free.
bool	isBoundary ()
bool	isLRRBoundary ()
	Tells if cell is LRR Boundary.
bool	isUnknown ()
	Tells if cell is unknown.
string	print ()
	Print function.

---

Detailed Description

A class representing the state of a cell.

Author:

Arnaud Dufranne.

Todo:

erase the explored Once state.

The state is stored is a char the states are represented as follows : MSB <- x|xxx|x|x -> LSB the first field on the left tells wether the cell is unknown or not (1= unknown) the second on the left tells wether the cell is :

• Frontier (001)
• Internal Free (010)
• Internal Non Free (011)
• Obstacle (100) the third tells wether the cell is local or not (1=local) the last one (not used anymore) tells wether the cell is Explored ONLY once or several times (1=explored ONLY once).

---

Constructor & Destructor Documentation

MipBaselib::PerceptionCellState::PerceptionCellState

(

)

Void constructor.

MipBaselib::PerceptionCellState::~PerceptionCellState

(

)

Destructor.

MipBaselib::PerceptionCellState::PerceptionCellState

(

const PerceptionCellState &

perceptionCellstate

)

Copy constructor.

Parameters:

[in]

perceptionCellstate

The perceptionCellState to copy

---

Member Function Documentation

PerceptionCellState & MipBaselib::PerceptionCellState::operator=

(

const PerceptionCellState &

c

)

Operator =.

Parameters:

[in]

perceptionCellstate

The perceptionCellState to copy

void MipBaselib::PerceptionCellState::setIsLSRContour

(

)

Sets the cell to LSRcontour.

void MipBaselib::PerceptionCellState::setIsNotLSRContour

(

)

Sets the cell to not LSRcontour.

bool MipBaselib::PerceptionCellState::isLSRContour

(

)

Says if the cell is LSRContour.

void MipBaselib::PerceptionCellState::setState	(	bool	unknown,
		int	thirdType,
		bool	local,
		bool	exploredOnce
	)

Method to set the state.

Parameters:

[in]	perceptionCellBoundaryType	The "third" type of a PerceptionCell.
[in]	local	Tells if PerceptionCell is local or global.
[in]	exploredOnce	Tells if perceptionCell is explored once only or several times.

void MipBaselib::PerceptionCellState::setLocal

(

)

Sets the cell to local, remembering its previous state.

void MipBaselib::PerceptionCellState::setNotLocal

(

)

Sets the cell to not local, remembering its previous state.

void MipBaselib::PerceptionCellState::setIsUnknown

(

)

Sets the cell state to unknown.

void MipBaselib::PerceptionCellState::setIsFrontier

(

)

Sets the cell state to frontier.

Todo:

change the unknown state !!!!!!!!!!!!!!!!!!!!!!!!!!

void MipBaselib::PerceptionCellState::setIsInternalNonFree

(

)

Sets the cell state to internal non free.

void MipBaselib::PerceptionCellState::setIsInternalFree

(

)

Sets the cell state to internal free.

void MipBaselib::PerceptionCellState::setIsObstacle

(

)

Sets the cell state to internal free.

bool MipBaselib::PerceptionCellState::isLocal

(

)

Tells wether the cell is local or not.

Returns:

true if it is the case false otherwise.

bool MipBaselib::PerceptionCellState::wasLocal

(

)

Tells if the cell was local before the last time it has been set to unlocal.

Returns:

true if it was local. false otherwise.

bool MipBaselib::PerceptionCellState::isLRR

(

)

Tells if cell is LRR.

Returns:

true if cell is LRR false otherwise.

bool MipBaselib::PerceptionCellState::isFrontier

(

)

Tells if cell is Frontier.

Returns:

true if cell is Frontier false otherwise.

bool MipBaselib::PerceptionCellState::isLSR

(

)

Tells if cell is LSR.

Returns:

true if cell is LSR false otherwise.

bool MipBaselib::PerceptionCellState::isPrevExpl

(

)

Tells if cell is previously explored.

Returns:

true if cell is previously explored false otherwise.

bool MipBaselib::PerceptionCellState::isObstacle

(

)

Tells if cell is obstacle.

Returns:

true if cell is obstacle false otherwise.

bool MipBaselib::PerceptionCellState::isInternalFree

(

)

Tells if cell is Internal Free.

Returns:

true if cell is Internal Free false otherwise.

bool MipBaselib::PerceptionCellState::isInternalNonFree

(

)

Tells if cell is Internal Non Free.

Returns:

true if cell is Internal Non Free false otherwise.

bool MipBaselib::PerceptionCellState::isBoundary

(

)

bool MipBaselib::PerceptionCellState::isLRRBoundary

(

)

Tells if cell is LRR Boundary.

Returns:

true if cell is LRR boundary false otherwise.

bool MipBaselib::PerceptionCellState::isUnknown

(

)

Tells if cell is unknown.

Returns:

true if cell is unknown false otherwise.

string MipBaselib::PerceptionCellState::print

(

)

Print function.

Returns:

A printable string.

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

• baselib/Grid/PerceptionGrid.h
• baselib/Grid/PerceptionGrid.cpp