A point or region of interest in an Aria map. More...

#include <ArMapObject.h>

Public Types
enum	{ ARG_INDEX_COUNT = LAST_ARG_INDEX + 1 }

enum	ArgIndex { TYPE_ARG_INDEX = 0, POSE_X_ARG_INDEX = 1, POSE_Y_ARG_INDEX = 2, TH_ARG_INDEX = 3, DESC_ARG_INDEX = 4, ICON_ARG_INDEX = 5, NAME_ARG_INDEX = 6, LAST_POSE_ARG_INDEX = NAME_ARG_INDEX, FROM_X_ARG_INDEX = 7, FROM_Y_ARG_INDEX = 8, TO_X_ARG_INDEX = 9, TO_Y_ARG_INDEX = 10, LAST_ARG_INDEX = TO_Y_ARG_INDEX }
	ArArgumentBuilder indices for the various map object attributes.

Public Member Functions
	ArMapObject (const char type, ArPose pose, const char description, const char iconName, const char name, bool hasFromTo, ArPose fromPose, ArPose toPose)
	Constructor. More...

	ArMapObject (const ArMapObject &mapObject)
	Copy constructor.

ArPose	findCenter (void) const
	Computes the center pose of the map object. More...

const char *	getBaseType (void) const
	Returns the "base" (or root) type of the map object. More...

const char *	getDescription () const
	Returns the optional description of the map object.

const char *	getFileName (void) const
	Gets the fileName of the object (probably never used for maps) More...

ArPose	getFromPose (void) const
	Returns the "from" pose for lines and rectangles; valid only if hasFromTo() More...

double	getFromToRotation (void) const
	Returns the optional rotation of a rectangle; or 0 if none. More...

ArLineSegment	getFromToSegment (void)
	Gets a line segment that goes from the from to the to. More...

std::list< ArLineSegment >	getFromToSegments (void)
	Gets a list of fromTo line segments that have been rotated. More...

const char *	getIconName (void) const
	Returns the icon string of the object. More...

int	getId () const
	Returns the numerical identifier of the object, when auto-numbering is on. More...

const char *	getName (void) const
	Returns the name of the map object (if any) More...

ArPose	getPose (void) const
	Returns the primary pose of the object. More...

const char *	getStringRepresentation () const
	Returns the text representation of the map object. More...

ArPose	getToPose (void) const
	Returns the "to" pose for lines and rectangles; valid only if hasFromTo() More...

const char *	getType (void) const
	Returns the type of the map object. More...

bool	hasFromTo (void) const
	Returns true if the map object has valid "from/to" poses (i.e. is a line or rectangle) More...

void	log (const char *intro=NULL) const
	Writes the map object to the ArLog. More...

bool	operator< (const ArMapObject &other) const
	Less than operator (for sets), orders by position.

ArMapObject &	operator= (const ArMapObject &mapObject)
	Assignment operator.

void	setDescription (const char *description)
	Sets the description of the map object. More...

const char *	toString () const
	Returns the text representation of the map object. More...

virtual	~ArMapObject ()
	Destructor.

Static Public Member Functions
static ArMapObject *	createMapObject (ArArgumentBuilder *arg)
	Creates a new ArMapObject whose attributes are as specified in the given arguments. More...

Protected Attributes
std::string	myBaseType
	If non-empty, then myType ends with "WithHeading" and this is the "root".

std::string	myDescription
	The description of the map object.

ArPose	myFromPose
	The "from" pose of a region map object; valid only if myHasFromTo is true.

ArLineSegment	myFromToSegment
	For line objects, the line.

std::list< ArLineSegment >	myFromToSegments
	For rectangle objects, the line segments that comprise the perimeter (even if rotated)

bool	myHasFromTo
	Whether the map object is a region (line or rect) with "from/to" poses.

std::string	myIconName
	Reserved for future use.

std::string	myName
	The name of the map object, if any.

ArPose	myPose
	For pose objects, THE pose; For rectangle objects, contains the optional rotation.

std::string	myStringRepresentation
	Text representation written to the map file.

ArPose	myToPose
	The "to" pose of a region map object; valid only if myHasFromTo is true.

std::string	myType
	The type of the map object.

Detailed Description

A point or region of interest in an Aria map.

ArMapObject contains the data related to an Aria map object, i.e a point or region of interest in an Aria map that is not part of the sensed obstacle data. Examples of map objects include goals, docks, forbidden lines, and forbidden areas. Applications may define their own custom ArMapObject types using the ArMap MapInfo mechanism. See ArMap for more information.

The basic attributes of an ArMapObject include the type of the map object, an optional name of the object, and its position information. As mentioned above, there are two basic categories of ArMapObjects:

Points: A single ArPose in the map. By convention, if a map object can have an optional heading, then "WithHeading" appears at the end of the object type when the heading is specified. For example, "Goal" designates an (x,y) location in the map (any heading or theta value should be ignored) and "GoalWithHeading" designates an (x,y,th) location.
Regions: A set of two ArPoses ("from" and "to") which define a rectangle or a line. Rectangles may have an associated rotation value. It is the rotation to be applied to the "from" and "to" poses around the global origin . To retrieve the list of line segments that comprise the rotated rectangle's perimeter, use the getFromToSegments() method.

Note that the ArMapObject is generally immutable. If an object needs to be changed, then the original version should simply be replaced with a new one. See ArMap::getMapObjects(), ArMap::setMapObjects(), and ArMap::mapChanged().

Constructor & Destructor Documentation

◆ ArMapObject()

ArMapObject::ArMapObject	(	const char *	type,
		ArPose	pose,
		const char *	description,
		const char *	iconName,
		const char *	name,
		bool	hasFromTo,
		ArPose	fromPose,
		ArPose	toPose
	)

Constructor.

Parameters

type	the char * type of the map object (e.g. "Goal", "ForbiddenLine"); must be non-empty
pose	the primary ArPose of the map object; for points, this is its location; for rectangles, this specifies the rotation of the rectangle (in pose.getTh())
description	an optional char * description of the object.
iconName	char * currently unused: use "ICON" or NULL as a dummy value. Must be a non-empty, non-whitespace string.
name	the char * name of the map object; depending on the object type, this may be optional or required
hasFromTo	a bool set to true if the object is a region (i.e. line or rectangle); false if the object is a point
fromPose	the ArPose that defines the start point of the region object; applicable only when hasFromTo is true
toPose	the ArPose that defines the end point of the region object; applicable only when hasFromTo is true

Member Function Documentation

◆ createMapObject()

ArMapObject * ArMapObject::createMapObject ( ArArgumentBuilder * arg )

static

Creates a new ArMapObject whose attributes are as specified in the given arguments.

Parameters

arg	the ArArgumentBuilder * from which to create the ArMapObject; this should correspond to a parsed line in the ArMap file

Returns: ArMapObject * the newly created map object, or NULL if an error occurred

◆ findCenter()

ArPose ArMapObject::findCenter ( void ) const

Computes the center pose of the map object.

This method determines the center of map objects that have a "from" and a "to" pose (i.e. lines and rectangles). For map objects that are poses, this method simply returns the pose.

◆ getBaseType()

const char * ArMapObject::getBaseType ( void ) const

Returns the "base" (or root) type of the map object.

If the map object type ends with "WithHeading", then the base is the corresponding heading-less type. For example, "GoalWithHeading" has a base type of "Goal".

If the map object type does not end with "WithHeading", then the base is the same as the type.

◆ getFileName()

const char * ArMapObject::getFileName ( void ) const

Gets the fileName of the object (probably never used for maps)

This method is maintained solely for backwards compatibility. It now returns the same value as getDescription (i.e. any file names that may have been associated with an object can now be found in the description attribute).

Deprecated:

This method is maintained solely for backwards compatibility. It now returns the same value as getDescription (i.e. any file names that may have been associated with an object can now be found in the description attribute).

Deprecated:

◆ getFromPose()

ArPose ArMapObject::getFromPose ( void ) const

Returns the "from" pose for lines and rectangles; valid only if hasFromTo()

Gets the from pose (could be for line or box, depending)

◆ getFromToRotation()

double ArMapObject::getFromToRotation ( void ) const

Returns the optional rotation of a rectangle; or 0 if none.

Note that this function doesn't know whether it actually makes sense for this map object to have the rotation. (For example, it makes sense on a ForbiddenArea but not a ForbiddenLine.)

◆ getFromToSegment()

ArLineSegment ArMapObject::getFromToSegment ( void )

Gets a line segment that goes from the from to the to.

Note that this function doesn't know whether this is supposed to be a rectangle or a line. (For example, it makes sense on a ForbiddenLine but not a ForbiddenAra.) This is just here to store it. Note that this might be a little more CPU/Memory intensive transfering these around, so you may want to keep a copy of them if you're using them a lot (but make sure you clear the copy if the map changes). It may not make much difference on a modern processor though (its set up this way for safety).

◆ getFromToSegments()

std::list< ArLineSegment > ArMapObject::getFromToSegments ( void )

Gets a list of fromTo line segments that have been rotated.

Note that this function doesn't know whether it actually makes sense for this map object to have the rotation. (For example, it makes sense on a ForbiddenArea but not a ForbiddenLine.) This is just here so that everyone doesn't have to do the same calculation. Note that this might be a little more CPU/Memory intensive transfering these around, so you may want to keep a copy of them if you're using them a lot (but make sure you clear the copy if the map changes). It may not make much difference on a modern processor though (its set up this way for safety).

◆ getIconName()

const char * ArMapObject::getIconName ( void ) const

Returns the icon string of the object.

Gets the icon string of the object.

The use of the ICON field is application-dependent. It currently contains either the string "ICON" or "ID=<n>". The ID is used only when auto-numbering has been turned on in the MapInfo.

◆ getId()

int ArMapObject::getId ( ) const

Returns the numerical identifier of the object, when auto-numbering is on.

This method returns 0 when auto-numbering is off.

◆ getName()

const char * ArMapObject::getName ( void ) const

Returns the name of the map object (if any)

Gets the name of the object (if any)

◆ getPose()

ArPose ArMapObject::getPose ( void ) const

Returns the primary pose of the object.

Gets the pose of the object.

For points, this is the map object's location; for rectangles, this specifies the rotation of the rectangle (in getPose().getTh())

◆ getStringRepresentation()

const char* ArMapObject::getStringRepresentation ( ) const

inline

Returns the text representation of the map object.

This method is equivalent to toString();

◆ getToPose()

ArPose ArMapObject::getToPose ( void ) const

Returns the "to" pose for lines and rectangles; valid only if hasFromTo()

Gets the to pose (could be for line or box, depending)

◆ getType()

const char * ArMapObject::getType ( void ) const

Returns the type of the map object.

Gets the type of the object.

◆ hasFromTo()

bool ArMapObject::hasFromTo ( void ) const

Returns true if the map object has valid "from/to" poses (i.e. is a line or rectangle)

Gets the addition args of the object.

◆ log()

void ArMapObject::log ( const char * intro = NULL ) const

Writes the map object to the ArLog.

Parameters

intro an optional string that should appear before the object

◆ setDescription()

void ArMapObject::setDescription ( const char * description )

Sets the description of the map object.

This method really should only be called immediately after the object is created, and before it is added to the map. (Since the map object isn't intended to be mutable.) It exists for backwards compatibility.

◆ toString()

const char * ArMapObject::toString ( void ) const

Returns the text representation of the map object.

The returned string is suitable for writing to the ArMap file. Note that the string does NOT include the map object's optional parameters.

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

ArMapObject.h
ArMapObject.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArMapObject()

Member Function Documentation

◆ createMapObject()

◆ findCenter()

◆ getBaseType()

◆ getFileName()

◆ getFromPose()

◆ getFromToRotation()

◆ getFromToSegment()

◆ getFromToSegments()

◆ getIconName()

◆ getId()

◆ getName()

◆ getPose()

◆ getStringRepresentation()

◆ getToPose()

◆ getType()

◆ hasFromTo()

◆ log()

◆ setDescription()

◆ toString()