BeoSubDB Class Reference

A BeoSub mapping database. More...

#include <BeoSub/BeoSubDB.H>

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List of all members.

Public Member Functions

Constructors and Destructors

 BeoSubDB ()
 Default Constructor.
 ~BeoSubDB ()
 Destructor.
bool initializeDatabase (std::list< std::string > filenames, std::string destFilename)
 Returns true if files found, false otherwise.
bool loadDatabase (std::string filename)
 Returns true if file found, false otherwise.
void saveDatabase (std::map< std::string, MappingData > inDB, std::string filename)
 Saves map to file.
MappingData getMappingData (std::string name)
 Returns map element at key "name".
uint getNumEntries ()
 Returns size of the database.
void getDirections (MappingData from, MappingData to, Attitude &directions, float &dist)
 This function returns by reference the attitude and distance necessary to reach a target state given the current state (represented in MappingData objects).

Detailed Description

A BeoSub mapping database.

Structure is as follows: IMAGE, COMPASS(heading pitch roll), ACTUATORS (ballast[front rear], thrusters[left right]), POSITION (x, y, z)

NOTE: zPos is based off of the depth sensor

Definition at line 67 of file BeoSubDB.H.


Constructor & Destructor Documentation

BeoSubDB::BeoSubDB (  )  [inline]

Default Constructor.

This constructor reads in from a hardcoded directory all database data and reads it into a map

Definition at line 107 of file BeoSubDB.H.

BeoSubDB::~BeoSubDB (  )  [inline]

Destructor.

Definition at line 112 of file BeoSubDB.H.


Member Function Documentation

void BeoSubDB::getDirections ( MappingData  from,
MappingData  to,
Attitude directions,
float &  dist 
) [inline]

This function returns by reference the attitude and distance necessary to reach a target state given the current state (represented in MappingData objects).

Definition at line 259 of file BeoSubDB.H.

References angle(), Attitude::depth, Attitude::roll, and sqrt().

Referenced by main().

MappingData BeoSubDB::getMappingData ( std::string  name  )  [inline]

Returns map element at key "name".

Definition at line 246 of file BeoSubDB.H.

Referenced by main().

uint BeoSubDB::getNumEntries (  )  [inline]

Returns size of the database.

Definition at line 253 of file BeoSubDB.H.

Referenced by main().

bool BeoSubDB::initializeDatabase ( std::list< std::string filenames,
std::string  destFilename 
) [inline]

Returns true if files found, false otherwise.

Definition at line 117 of file BeoSubDB.H.

References in, saveDatabase(), and Angle::setVal().

Referenced by main().

bool BeoSubDB::loadDatabase ( std::string  filename  )  [inline]

Returns true if file found, false otherwise.

Definition at line 167 of file BeoSubDB.H.

References in.

Referenced by main().

void BeoSubDB::saveDatabase ( std::map< std::string, MappingData inDB,
std::string  filename 
) [inline]

Saves map to file.

Definition at line 213 of file BeoSubDB.H.

Referenced by initializeDatabase().


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