This class is a buffer that holds ranging information. More...

#include <ArRangeBuffer.h>

Public Member Functions
void	addReading (double x, double y)
	Adds a new reading to the buffer. More...

void	addReadingConditional (double x, double y, double closeDistSquared, bool *wasAdded=NULL)
	Adds a new reading to the buffer if some conditions are met. More...

void	applyTransform (ArTransform trans)
	Applies a transform to the buffer. More...

	ArRangeBuffer (int size)
	Constructor. More...

void	beginInvalidationSweep (void)
	Begins a walk through the getBuffer list of readings. More...

void	beginRedoBuffer (void)
	This begins a redoing of the buffer. More...

void	clear (void)
	Clears all the readings in the range buffer.

void	clearOlderThan (int milliSeconds)
	Resets the readings older than this many seconds.

void	clearOlderThanSeconds (int seconds)
	Resets the readings older than this many seconds.

void	endInvalidationSweep (void)
	Ends the invalidation sweep. More...

void	endRedoBuffer (void)
	End redoing the buffer. More...

const std::list< ArPoseWithTime * > *	getBuffer (void) const
	Gets a pointer to a list of readings. More...

std::list< ArPoseWithTime * > *	getBuffer (void)
	Gets a pointer to a list of readings. More...

std::vector< ArPoseWithTime > *	getBufferAsVector (void)
	Gets the buffer as an array instead of as a std::list. More...

double	getClosestBox (double x1, double y1, double x2, double y2, ArPose position, unsigned int maxRange, ArPose *readingPos=NULL, ArPose targetPose=ArPose(0, 0, 0)) const
	Gets the closest reading, from a rectangular box, in robot LOCAL coords. More...

double	getClosestPolar (double startAngle, double endAngle, ArPose position, unsigned int maxRange, double *angle=NULL) const
	Gets the closest reading, on a polar system. More...

ArPose	getEncoderPoseTaken () const
	Gets the encoder pose of the robot when readings were taken.

ArPose	getPoseTaken () const
	Gets the pose of the robot when readings were taken.

size_t	getSize (void) const
	Gets the size of the buffer.

void	invalidateReading (std::list< ArPoseWithTime *>::iterator readingIt)
	While doing an invalidation sweep a reading to the list to be invalidated. More...

void	redoReading (double x, double y)
	Add a reading to the redoing of the buffer. More...

void	reset (void)
	same as clear, but old name

void	setEncoderPoseTaken (ArPose p)
	Sets the pose of the robot when readings were taken.

void	setPoseTaken (ArPose p)
	Sets the pose of the robot when readings were taken.

void	setSize (size_t size)
	Sets the size of the buffer. More...

virtual	~ArRangeBuffer ()
	Destructor.

Static Public Member Functions
static double	getClosestBoxInList (double x1, double y1, double x2, double y2, ArPose position, unsigned int maxRange, ArPose readingPos, ArPose targetPose, const std::list< ArPoseWithTime > *buffer)
	Gets the closest reading, from an arbitrary buffer. More...

static double	getClosestPolarInList (double startAngle, double endAngle, ArPose position, unsigned int maxRange, double angle, const std::list< ArPoseWithTime > *buffer)
	Gets the closest reading, from an arbitrary buffer.

Protected Attributes
std::list< ArPoseWithTime * >	myBuffer

ArPose	myBufferPose

ArPose	myEncoderBufferPose

bool	myHitEnd

std::list< ArPoseWithTime * >	myInvalidBuffer

std::list< std::list< ArPoseWithTime * >::iterator >::iterator	myInvalidIt

std::list< std::list< ArPoseWithTime * >::iterator >	myInvalidSweepList

std::list< ArPoseWithTime * >::iterator	myIterator

int	myNumRedone

ArPoseWithTime *	myReading

std::list< ArPoseWithTime * >::iterator	myRedoIt

std::list< ArPoseWithTime * >::reverse_iterator	myRevIterator

size_t	mySize

std::vector< ArPoseWithTime >	myVector

Detailed Description

This class is a buffer that holds ranging information.

Constructor & Destructor Documentation

◆ ArRangeBuffer()

ArRangeBuffer::ArRangeBuffer ( int size )

Constructor.

Parameters

size	The size of the buffer, in number of readings

Member Function Documentation

◆ addReading()

void ArRangeBuffer::addReading	(	double	x,
		double	y
	)

Adds a new reading to the buffer.

Parameters

x	the x position of the reading
y	the y position of the reading

◆ addReadingConditional()

void ArRangeBuffer::addReadingConditional	(	double	x,
		double	y,
		double	closeDistSquared,
		bool *	wasAdded = `NULL`
	)

Adds a new reading to the buffer if some conditions are met.

Parameters

x	the x position of the reading
y	the y position of the reading
closeDistSquared	if the new reading is within closeDistSquared distanceSquared of an old point the old point is just updated for time
wasAdded	pointed to set to true if the reading was added, or false if not

◆ applyTransform()

void ArRangeBuffer::applyTransform ( ArTransform trans )

Applies a transform to the buffer.

Applies a transform to the buffers.

. this is mostly useful for translating to/from local/global coords, but may have other uses

Parameters

trans the transform to apply to the data

◆ beginInvalidationSweep()

void ArRangeBuffer::beginInvalidationSweep ( void )

Begins a walk through the getBuffer list of readings.

This is a set of funkiness used to invalid readings in the buffer.

It is fairly complicated. But what you need to do, is set up the invalid sweeping with beginInvalidationSweep, then walk through the list of readings, and pass the iterator to a reading you want to invalidate to invalidateReading, then after you are all through walking the list call endInvalidationSweep. Look at the description of getBuffer for additional warnings.

See also: invalidateReading; endInvalidationSweep

◆ beginRedoBuffer()

void ArRangeBuffer::beginRedoBuffer ( void )

This begins a redoing of the buffer.

To redo the buffer means that you want to replace all of the readings in the buffer with new pose values, and get rid of the readings that you didn't update with new values (invalidate them).

The three functions beginRedoBuffer(), redoReading(), and endRedoBuffer() are all made to enable you to do this. First call beginRedoBuffer(). Then for each reading you want to update in the buffer, call redoReading(double x, double y), then when you are done, call endRedoBuffer().

◆ endInvalidationSweep()

void ArRangeBuffer::endInvalidationSweep ( void )

Ends the invalidation sweep.

See the description of beginInvalidationSweep, it describes how to use this function.

See also: beginInvalidationSweep; invalidateReading

◆ endRedoBuffer()

void ArRangeBuffer::endRedoBuffer ( void )

End redoing the buffer.

For a description of how to use this, see beginRedoBuffer()

◆ getBuffer() [1/2]

const std::list< ArPoseWithTime * > * ArRangeBuffer::getBuffer ( void ) const

Gets a pointer to a list of readings.

This function returns a pointer to a list that has all of the readings in it.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

This list is mostly for reference, ie for finding some particular value or for using the readings to draw them. Don't do any modification at all to the list unless you really know what you're doing... and if you do you'd better lock the rangeDevice this came from so nothing messes with the list while you are doing so.

Returns: the list of positions this range buffer has

◆ getBuffer() [2/2]

std::list< ArPoseWithTime * > * ArRangeBuffer::getBuffer ( void )

Gets a pointer to a list of readings.

This function returns a pointer to a list that has all of the readings in it.

This list is mostly for reference, ie for finding some particular value or for using the readings to draw them. Don't do any modification at all to the list unless you really know what you're doing... and if you do you'd better lock the rangeDevice this came from so nothing messes with the list while you are doing so.

Returns: the list of positions this range buffer has

◆ getBufferAsVector()

std::vector< ArPoseWithTime > * ArRangeBuffer::getBufferAsVector ( void )

Gets the buffer as an array instead of as a std::list.

Copy the readings from this buffer to a vector stored within this object, and return a pointer to that vector.

Note that the actual vector object is stored within ArRangeBuffer, be careful if accessing it from multiple threads.

Returns: Pointer to reading vector.

◆ getClosestBox()

double ArRangeBuffer::getClosestBox	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose	startPos,
		unsigned int	maxRange,
		ArPose *	readingPos = `NULL`,
		ArPose	targetPose = `ArPose(0, 0, 0)`
	)		const

Gets the closest reading, from a rectangular box, in robot LOCAL coords.

Gets the closest reading in a region defined by two points (opposeite points of a rectangle).

Parameters

x1	the x coordinate of one of the rectangle points
y1	the y coordinate of one of the rectangle points
x2	the x coordinate of the other rectangle point
y2	the y coordinate of the other rectangle point
startPos	the position to find the closest reading to (usually the robots position)
maxRange	the maximum range to return (and what to return if nothing found)
readingPos	a pointer to a position in which to store the location of the closest position
targetPose	the origin of the local coords for the definition of the coordinates, e.g. ArRobot::getPosition() to center the box on the robot

Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

◆ getClosestBoxInList()

double ArRangeBuffer::getClosestBoxInList	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose	startPos,
		unsigned int	maxRange,
		ArPose *	readingPos,
		ArPose	targetPose,
		const std::list< ArPoseWithTime >	buffer
	)

static

Gets the closest reading, from an arbitrary buffer.

Get closest reading in a region defined by two points (opposeite points of a rectangle) from a given list readings (rather than the readings stored in an ArRangeBuffer)

Parameters

x1	the x coordinate of one of the rectangle points
y1	the y coordinate of one of the rectangle points
x2	the x coordinate of the other rectangle point
y2	the y coordinate of the other rectangle point
startPos	the position to find the closest reading to (usually the robots position)
maxRange	the maximum range to return (and what to return if nothing found)
readingPos	a pointer to a position in which to store the location of the closest position
targetPose	the origin of the local coords for the definition of the coordinates, normally just ArRobot::getPosition()
buffer	Use the reading positions from this list
targetPose	the pose to see if we're closest too (in local coordinates), this should nearly always be the default of 0 0 0

Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

◆ getClosestPolar()

double ArRangeBuffer::getClosestPolar	(	double	startAngle,
		double	endAngle,
		ArPose	startPos,
		unsigned int	maxRange,
		double *	angle = `NULL`
	)		const

Gets the closest reading, on a polar system.

Gets the closest reading in a region defined by startAngle going to endAngle...

going counterclockwise (neg degrees to poseitive... with how the robot is set up, thats counterclockwise)... from -180 to 180... this means if you want the slice between 0 and 10 degrees, you must enter it as 0, 10, if you do 10, 0 you'll get the 350 degrees between 10 and 0... be especially careful with negative... for example -30 to -60 is everything from -30, around through 0, 90, and 180 back to -60... since -60 is actually to clockwise of -30

Parameters

startAngle	where to start the slice
endAngle	where to end the slice, going clockwise from startAngle
startPos	the position to find the closest reading to (usually the robots position)
maxRange	the maximum range to return (and what to return if nothing found)
angle	a pointer return of the angle to the found reading

Returns: if the return is >= 0 and <= maxRange then this is the distance to the closest reading, if it is >= maxRange, then there was no reading in the given section

◆ invalidateReading()

void ArRangeBuffer::invalidateReading ( std::list< ArPoseWithTime *>::iterator readingIt )

While doing an invalidation sweep a reading to the list to be invalidated.

See the description of beginInvalidationSweep, it describes how to use this function.

Parameters

readingIt the ITERATOR to the reading you want to get rid of

See also: beginInvaladationSweep; endInvalidationSweep

◆ redoReading()

void ArRangeBuffer::redoReading	(	double	x,
		double	y
	)

Add a reading to the redoing of the buffer.

For a description of how to use this, see beginRedoBuffer()

Parameters

x	the x param of the coord to add to the buffer
y	the x param of the coord to add to the buffer

◆ setSize()

void ArRangeBuffer::setSize ( size_t size )

Sets the size of the buffer.

If the new size is smaller than the current buffer it chops off the readings that are excess from the oldest readings...

if the new size is larger then it just leaves room for the buffer to grow

Parameters

size	number of readings to set the buffer to

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

ArRangeBuffer.h
ArRangeBuffer.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArRangeBuffer()

Member Function Documentation

◆ addReading()

◆ addReadingConditional()

◆ applyTransform()

◆ beginInvalidationSweep()

◆ beginRedoBuffer()

◆ endInvalidationSweep()

◆ endRedoBuffer()

◆ getBuffer() [1/2]

◆ getBuffer() [2/2]

◆ getBufferAsVector()

◆ getClosestBox()

◆ getClosestBoxInList()

◆ getClosestPolar()

◆ invalidateReading()

◆ redoReading()

◆ setSize()