134 lines
5.4 KiB
C++
134 lines
5.4 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARRANGEBUFFER_H
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#define ARRANGEBUFFER_H
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#include "ariaUtil.h"
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#include "ariaTypedefs.h"
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#include "ArTransform.h"
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#include <list>
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#include <vector>
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/// This class is a buffer that holds ranging information
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class ArRangeBuffer
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{
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public:
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/// Constructor
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AREXPORT ArRangeBuffer(int size);
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/// Destructor
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AREXPORT virtual ~ArRangeBuffer();
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/// Gets the size of the buffer
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AREXPORT size_t getSize(void) const;
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/// Sets the size of the buffer
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AREXPORT void setSize(size_t size);
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/// Gets the pose of the robot when readings were taken
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AREXPORT ArPose getPoseTaken() const;
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/// Sets the pose of the robot when readings were taken
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AREXPORT void setPoseTaken(ArPose p);
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/// Gets the encoder pose of the robot when readings were taken
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AREXPORT ArPose getEncoderPoseTaken() const;
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/// Sets the pose of the robot when readings were taken
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AREXPORT void setEncoderPoseTaken(ArPose p);
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/// Adds a new reading to the buffer
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AREXPORT void addReading(double x, double y);
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/// Adds a new reading to the buffer if some conditions are met
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AREXPORT void addReadingConditional(double x, double y,
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double closeDistSquared,
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bool *wasAdded = NULL);
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/// Begins a walk through the getBuffer list of readings
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AREXPORT void beginInvalidationSweep(void);
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/// While doing an invalidation sweep a reading to the list to be invalidated
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AREXPORT void invalidateReading(std::list<ArPoseWithTime*>::iterator readingIt);
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/// Ends the invalidation sweep
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AREXPORT void endInvalidationSweep(void);
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#ifndef SWIG
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/** @brief Gets a pointer to a list of readings
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* @swigomit
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*/
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AREXPORT const std::list<ArPoseWithTime *> *getBuffer(void) const;
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#endif
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/// Gets a pointer to a list of readings
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AREXPORT std::list<ArPoseWithTime *> *getBuffer(void);
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/// Gets the closest reading, on a polar system
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AREXPORT double getClosestPolar(double startAngle, double endAngle,
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ArPose position, unsigned int maxRange,
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double *angle = NULL) const;
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/// Gets the closest reading, from a rectangular box, in robot LOCAL coords
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AREXPORT double getClosestBox(double x1, double y1, double x2, double y2,
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ArPose position, unsigned int maxRange,
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ArPose *readingPos = NULL,
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ArPose targetPose = ArPose(0, 0, 0)) const;
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/// Applies a transform to the buffer
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AREXPORT void applyTransform(ArTransform trans);
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/// Clears all the readings in the range buffer
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AREXPORT void clear(void);
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/// Resets the readings older than this many seconds
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AREXPORT void clearOlderThan(int milliSeconds);
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/// Resets the readings older than this many seconds
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AREXPORT void clearOlderThanSeconds(int seconds);
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/// same as clear, but old name
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AREXPORT void reset(void);
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/// This begins a redoing of the buffer
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AREXPORT void beginRedoBuffer(void);
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/// Add a reading to the redoing of the buffer
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AREXPORT void redoReading(double x, double y);
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/// End redoing the buffer
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AREXPORT void endRedoBuffer(void);
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/// Gets the buffer as an array instead of as a std::list
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AREXPORT std::vector<ArPoseWithTime> *getBufferAsVector(void);
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/// Gets the closest reading, from an arbitrary buffer
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AREXPORT static double getClosestPolarInList(
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double startAngle, double endAngle, ArPose position,
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unsigned int maxRange, double *angle,
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const std::list<ArPoseWithTime *> *buffer);
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/// Gets the closest reading, from an arbitrary buffer
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AREXPORT static double getClosestBoxInList(
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double x1, double y1, double x2, double y2, ArPose position,
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unsigned int maxRange, ArPose *readingPos,
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ArPose targetPose, const std::list<ArPoseWithTime *> *buffer);
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protected:
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std::vector<ArPoseWithTime> myVector;
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ArPose myBufferPose; // where the robot was when readings were acquired
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ArPose myEncoderBufferPose; // where the robot was when readings were acquired
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std::list<ArPoseWithTime *> myBuffer;
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std::list<ArPoseWithTime *> myInvalidBuffer;
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std::list<std::list<ArPoseWithTime *>::iterator > myInvalidSweepList;
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std::list<std::list<ArPoseWithTime *>::iterator >::iterator myInvalidIt;
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std::list<ArPoseWithTime *>::iterator myRedoIt;
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int myNumRedone;
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bool myHitEnd;
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size_t mySize;
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std::list<ArPoseWithTime *>::reverse_iterator myRevIterator;
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std::list<ArPoseWithTime *>::iterator myIterator;
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ArPoseWithTime * myReading;
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};
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#endif // ARRANGEBUFFER_H
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