MipBaselib::Cell Class Reference

Cell of a grid. More...

#include <Grid.h>

Inheritance diagram for MipBaselib::Cell:

List of all members.

Public Member Functions
	Cell ()
	Default constructor.
	Cell (Decimal)
	Decimal constructor.
	~Cell ()
	Destructor.
	Cell (const Cell &c)
	Copy constructor.
Cell &	operator= (const Cell &c)
	= operator.
void	setPoint (Position value)
	Sets cell position in meters w.r.t. the center cell.
void	setReading (Position value)
	Sets _reading paramenter.
void	setIndexes (DubInt value)
	Sets cell indexes in matricial rapresentation.
void	setVectorIndex (int value)
	Sets cell index in vector rapresentation.
void	setSide (Decimal value)
	Sets cell side in meters.
void	setNeighbours (vector< Cell * > value)
	Sets _neighbours vector with the specified one.
void	neighPushBack (Cell *value)
	Makes public the "push_back()" member of _neighbours.
void	setIsLRR ()
	Sets _isLRR flag.
void	setIsFrontier ()
	Set _isFrontier flag.
void	setIsLSR ()
	Sets _isLSR flag.
void	setIsPrevExpl ()
	Sets _isPrevExpl flag.
void	setIsObstacle ()
	Sets _isObstacle flag.
void	setIsUnknown ()
	Sets _isUnknown flag.
void	setIsBoundary ()
	Sets _isBoundary flag.
void	setIsLRRBoundary ()
	Sets _isLRRBoundary flag.
void	setIsLabelA ()
	Sets _isLabelA flag.
void	setIsLabelB ()
	Sets _isLabelB flag.
void	setCone (unsigned int value)
	Sets appartenence cone.
void	setFrame (unsigned int value)
	Sets appartenence frame.
void	setDistVP (Decimal value)
	Sets distance from ViewPoint (grid center) in meters.
void	setDistLSRBound (int value)
	Sets distance from closest LSR boundary cell.
void	unsetIsLRR ()
	Unsets the flag _isLRR.
void	unsetIsFrontier ()
	Unsets the flag _isFrontier.
void	unsetIsLSR ()
	Unsets the flag _isLSR.
void	unsetIsPrevExpl ()
	Unsets the flag _isPrevExpl.
void	unsetIsObstacle ()
	Unsets the flag _isObstacle.
void	unsetIsUnknown ()
	Unsets _isUnknown flag.
void	unsetIsBoundary ()
	Unsets _isBoundary flag.
void	unsetIsLRRBoundary ()
	Unsets _isLRRBoundary flag.
void	unsetIsLabelA ()
	Unsets _isLabelA flag.
void	unsetIsLabelB ()
	Unsets _isLabelB flag.
void	unsetAllFlags ()
	Unsets all flags.
void	copyAllFlags (Cell cell)
	Copies all flags of a given cell in current cell.
Position	point ()
	Returns cell position in meters w.r.t. the center cell.
Position	reading ()
	Returns _reading paramenter.
DubInt	indexes ()
	Returns cell indexes in matricial rapresentation.
int	vectorIndex ()
	Returns cell indeces in vector rapresentation.
Decimal	side ()
	Returns cell side in meters.
vector< Cell * >	neighbours ()
	Returns _neighbours vector.
bool	isLRR ()
	Returns _isLRR flag.
bool	isFrontier ()
	Returns _isFrontier flag.
bool	isLSR ()
	Returns isLSR flag.
bool	isPrevExpl ()
	Returns _isPrevExpl flag.
bool	isObstacle ()
	Returns _isObstacle flag.
bool	isUnknown ()
	Returns _isUnknown flag.
bool	isBoundary ()
	Returns _isBoundary flag.
bool	isLRRBoundary ()
	Returns _isLRRBoundary flag.
bool	isLabelA ()
	Returns _isLabelA flag.
bool	isLabelB ()
	Returns _isLabelB flag.
bool	integrity ()
	Returns integrity flag.
unsigned int	cone ()
	Returns appartenence cone.
unsigned int	frame ()
	Returns appartenence frame.
Decimal	distVP ()
	Returns distance of current cell from ViewPoint (grid center) in meters.
int	distLSRBound ()
	Returns distance of current cell from closest LSR boundary cell.
void	merge (Cell &otherCell)
	Merges the cell with another cell.
string	printFlags ()
	Prints flags status of the cell.
Public Attributes
vector< int >	perceptionCounter
	Vector containg the times a cell has been perceived as obstacle, LRR, etc...(under test).

---

Detailed Description

Cell of a grid.

Class for the implementation of a cell in a grid reapresentation for robot's sorrounding.

Author:

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

Date:

2008/11/14

Todo:

verify, make private camps.

---

Constructor & Destructor Documentation

Cell::Cell

(

)

Default constructor.

Cell::Cell

(

Decimal

side

)

Decimal constructor.

Cell::~Cell

(

)

Destructor.

Cell::Cell

(

const Cell &

c

)

Copy constructor.

---

Member Function Documentation

Cell & Cell::operator=

(

const Cell &

c

)

= operator.

void Cell::setPoint

(

Position

value

)

Sets cell position in meters w.r.t. the center cell.

void Cell::setReading

(

Position

value

)

Sets _reading paramenter.

void Cell::setIndexes

(

DubInt

value

)

Sets cell indexes in matricial rapresentation.

void Cell::setVectorIndex

(

int

value

)

Sets cell index in vector rapresentation.

void Cell::setSide

(

Decimal

value

)

Sets cell side in meters.

void Cell::setNeighbours

(

vector< Cell * >

value

)

Sets _neighbours vector with the specified one.

void Cell::neighPushBack

(

Cell *

value

)

Makes public the "push_back()" member of _neighbours.

void Cell::setIsLRR

(

)

Sets _isLRR flag.

void Cell::setIsFrontier

(

)

Set _isFrontier flag.

void Cell::setIsLSR

(

)

Sets _isLSR flag.

void Cell::setIsPrevExpl

(

)

Sets _isPrevExpl flag.

void Cell::setIsObstacle

(

)

Sets _isObstacle flag.

void Cell::setIsUnknown

(

)

Sets _isUnknown flag.

void Cell::setIsBoundary

(

)

Sets _isBoundary flag.

void Cell::setIsLRRBoundary

(

)

Sets _isLRRBoundary flag.

void Cell::setIsLabelA

(

)

Sets _isLabelA flag.

void Cell::setIsLabelB

(

)

Sets _isLabelB flag.

void Cell::setCone

(

unsigned int

value

)

Sets appartenence cone.

void Cell::setFrame

(

unsigned int

value

)

Sets appartenence frame.

void Cell::setDistVP

(

Decimal

value

)

Sets distance from ViewPoint (grid center) in meters.

void Cell::setDistLSRBound

(

int

value

)

Sets distance from closest LSR boundary cell.

void Cell::unsetIsLRR

(

)

Unsets the flag _isLRR.

void Cell::unsetIsFrontier

(

)

Unsets the flag _isFrontier.

void Cell::unsetIsLSR

(

)

Unsets the flag _isLSR.

void Cell::unsetIsPrevExpl

(

)

Unsets the flag _isPrevExpl.

void Cell::unsetIsObstacle

(

)

Unsets the flag _isObstacle.

void Cell::unsetIsUnknown

(

)

Unsets _isUnknown flag.

void Cell::unsetIsBoundary

(

)

Unsets _isBoundary flag.

void Cell::unsetIsLRRBoundary

(

)

Unsets _isLRRBoundary flag.

void Cell::unsetIsLabelA

(

)

Unsets _isLabelA flag.

void Cell::unsetIsLabelB

(

)

Unsets _isLabelB flag.

void Cell::unsetAllFlags

(

)

Unsets all flags.

void Cell::copyAllFlags

(

Cell

cell

)

Copies all flags of a given cell in current cell.

Position Cell::point

(

)

Returns cell position in meters w.r.t. the center cell.

Position Cell::reading

(

)

Returns _reading paramenter.

DubInt Cell::indexes

(

)

Returns cell indexes in matricial rapresentation.

int Cell::vectorIndex

(

)

Returns cell indeces in vector rapresentation.

Decimal Cell::side

(

)

Returns cell side in meters.

vector< Cell * > Cell::neighbours

(

)

Returns _neighbours vector.

bool Cell::isLRR

(

)

Returns _isLRR flag.

bool Cell::isFrontier

(

)

Returns _isFrontier flag.

bool Cell::isLSR

(

)

Returns isLSR flag.

bool Cell::isPrevExpl

(

)

Returns _isPrevExpl flag.

bool Cell::isObstacle

(

)

Returns _isObstacle flag.

bool Cell::isUnknown

(

)

Returns _isUnknown flag.

bool Cell::isBoundary

(

)

Returns _isBoundary flag.

bool Cell::isLRRBoundary

(

)

Returns _isLRRBoundary flag.

bool Cell::isLabelA

(

)

Returns _isLabelA flag.

bool Cell::isLabelB

(

)

Returns _isLabelB flag.

bool Cell::integrity

(

)

Returns integrity flag.

unsigned int Cell::cone

(

)

Returns appartenence cone.

unsigned int Cell::frame

(

)

Returns appartenence frame.

Decimal Cell::distVP

(

)

Returns distance of current cell from ViewPoint (grid center) in meters.

int Cell::distLSRBound

(

)

Returns distance of current cell from closest LSR boundary cell.

void Cell::merge

(

Cell &

otherCell

)

Merges the cell with another cell.

Parameters:

[in]

&anotherGrid

The other cell;

Todo:

Works only for is obstacle. Extend.

string Cell::printFlags

(

)

Prints flags status of the cell.

---

Member Data Documentation

vector<int> MipBaselib::Cell::perceptionCounter

Vector containg the times a cell has been perceived as obstacle, LRR, etc...(under test).

---

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

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