topological map using a list of landmarks More...
#include <Beobot/TopologicalMap.H>
Public Member Functions | |
Constructors, assignment, and Destructors | |
| TopologicalMap () | |
| Constructor: generate a blank map. | |
| TopologicalMap (std::string fileName) | |
| Constructor: retrieve the map from a file. | |
| ~TopologicalMap () | |
| Destructor. | |
| bool | read (std::string fileName) |
| read a map from a file | |
| bool | write (std::string fileName) |
| write a map to a file | |
Access functions | |
| uint | getSegmentNum () |
| get segment size | |
| Dims | getMapDims () |
| get the map dimension | |
| float | getMapScale () |
| get the map scale in (ft/unit map) | |
| Image< float > | getNodeSegmentDistanceMatrix () |
| get node - segment distance matrix | |
| rutz::shared_ptr< Node > | getNode (uint index) |
| get node or edge of the passed in index | |
| rutz::shared_ptr< Edge > | getEdge (uint index) |
| uint | getNumNode () |
| get node and edge size | |
| uint | getNumEdge () |
| float | getMaxDistance () |
| get maximum node-to-node distance | |
| float | getNodeSegmentMaxDistance () |
| get maximum node-to-segment distance | |
member functions | |
| float | getSegmentDistance (uint sseg, float ltrav, uint dseg, uint &intIndex) |
| float | getDistance (uint asnum, float altrav, uint bsnum, float bltrav) |
| get the distance between two points | |
| float | getPath (uint asnum, float altrav, uint bsnum, float bltrav, std::vector< int > &moves) |
| return a path from points 'a' to 'b' | |
| float | getSegmentLength (uint index) |
| get the length of the segment | |
| Point2D< int > | getLocation (uint cseg, float ltrav) |
| get Point2D<int> location of the (segnum, ltrav) descriptor | |
| void | getLocationFloat (uint cseg, float ltrav, float &x, float &y) |
| get Point2D<int> location (in float) of the (segnum, ltrav) descriptor | |
| rutz::shared_ptr< Edge > | getEdge (uint cseg, float ltrav, float &sdist, float &edist) |
| get the edge in which the point (snum, ltrav) is at | |
| rutz::shared_ptr< Edge > | getEdge (uint cseg, float ltrav, float &sdist, float &edist, uint &eindex) |
| get the edge in which the point (snum, ltrav) is at | |
| rutz::shared_ptr< Edge > | getEdge (Point2D< int > loc, float &sdist, float &edist) |
| get the edge in which the point is at | |
| float | getAngle (rutz::shared_ptr< Edge > e1, rutz::shared_ptr< Edge > e2) |
| void | getLocation (Point2D< int >, uint &cseg, float <rav) |
| convert Point2D<int> location the segment number and length traveled | |
| uint | getSegmentLocation (Point2D< int > loc) |
| convert Point2D<int> location to segment number | |
| float | getSegmentLengthTraveled (Point2D< int > loc) |
| convert Point2D<int> location to segment length traveled | |
| std::vector< rutz::shared_ptr < Node > > | getNodesInInterval (uint index, float fltrav, float lltrav) |
|
std::vector< std::pair< uint, float > > | getNodeLocationsInInterval (uint index, float fltrav, float lltrav) |
| Image< PixRGB< byte > > | getMapImage (uint w, uint h) |
topological map using a list of landmarks
Definition at line 58 of file TopologicalMap.H.
| TopologicalMap::TopologicalMap | ( | ) |
Constructor: generate a blank map.
Topological map for localization
Definition at line 48 of file TopologicalMap.C.
| TopologicalMap::TopologicalMap | ( | std::string | fileName | ) |
Constructor: retrieve the map from a file.
Definition at line 55 of file TopologicalMap.C.
References read().
| TopologicalMap::~TopologicalMap | ( | ) |
Destructor.
Definition at line 63 of file TopologicalMap.C.
| float TopologicalMap::getAngle | ( | rutz::shared_ptr< Edge > | e1, | |
| rutz::shared_ptr< Edge > | e2 | |||
| ) |
get the angle (in radians) between two edges they two edges do not have to have a common node angles are intuitive from the robot's perspective 0 degrees/radians means going straight, 180/-180 degrees or M_PI/-M_PI means turn around positive angle to the right, negative angle to the left
Definition at line 721 of file TopologicalMap.C.
get the distance between two points
Definition at line 273 of file TopologicalMap.C.
| rutz::shared_ptr< Edge > TopologicalMap::getEdge | ( | Point2D< int > | loc, | |
| float & | sdist, | |||
| float & | edist | |||
| ) |
get the edge in which the point is at
Definition at line 477 of file TopologicalMap.C.
| rutz::shared_ptr< Edge > TopologicalMap::getEdge | ( | uint | cseg, | |
| float | ltrav, | |||
| float & | sdist, | |||
| float & | edist, | |||
| uint & | eindex | |||
| ) |
get the edge in which the point (snum, ltrav) is at
Definition at line 448 of file TopologicalMap.C.
References ASSERT.
| rutz::shared_ptr< Edge > TopologicalMap::getEdge | ( | uint | cseg, | |
| float | ltrav, | |||
| float & | sdist, | |||
| float & | edist | |||
| ) |
get the edge in which the point (snum, ltrav) is at
Definition at line 440 of file TopologicalMap.C.
convert Point2D<int> location the segment number and length traveled
Definition at line 622 of file TopologicalMap.C.
get Point2D<int> location of the (segnum, ltrav) descriptor
Definition at line 611 of file TopologicalMap.C.
References getLocationFloat().
| void TopologicalMap::getLocationFloat | ( | uint | cseg, | |
| float | ltrav, | |||
| float & | x, | |||
| float & | y | |||
| ) |
get Point2D<int> location (in float) of the (segnum, ltrav) descriptor
Definition at line 576 of file TopologicalMap.C.
References ASSERT, getSegmentLength(), and Point2D< T >::i.
Referenced by getLocation().
| Dims TopologicalMap::getMapDims | ( | ) | [inline] |
get the map dimension
Definition at line 231 of file TopologicalMap.H.
returns an image representation of the map the w and h is the ideal size while keeping aspect ratio so most likely the image returned will be smaller in size
Implements Map.
Definition at line 240 of file TopologicalMap.C.
References drawArrow(), drawDisk(), drawRect(), Image< T >::getBounds(), Point2D< T >::i, min(), and ZEROS.
| float TopologicalMap::getMapScale | ( | ) | [inline] |
get the map scale in (ft/unit map)
Definition at line 236 of file TopologicalMap.H.
| float TopologicalMap::getMaxDistance | ( | ) | [inline] |
get maximum node-to-node distance
Definition at line 245 of file TopologicalMap.H.
| rutz::shared_ptr< Node > TopologicalMap::getNode | ( | uint | index | ) | [inline] |
get node or edge of the passed in index
Definition at line 260 of file TopologicalMap.H.
References ASSERT, and getNumNode().
| Image< float > TopologicalMap::getNodeSegmentDistanceMatrix | ( | ) | [inline] |
get node - segment distance matrix
Definition at line 240 of file TopologicalMap.H.
| float TopologicalMap::getNodeSegmentMaxDistance | ( | ) |
get maximum node-to-segment distance
Definition at line 567 of file TopologicalMap.C.
References getMinMax(), max(), and min().
| std::vector< rutz::shared_ptr< Node > > TopologicalMap::getNodesInInterval | ( | uint | index, | |
| float | fltrav, | |||
| float | lltrav | |||
| ) |
get the list of nodes in between the inputted interval two different versions of the results
Definition at line 654 of file TopologicalMap.C.
References ASSERT, and getSegmentLength().
| uint TopologicalMap::getNumNode | ( | ) | [inline] |
| float TopologicalMap::getPath | ( | uint | asnum, | |
| float | altrav, | |||
| uint | bsnum, | |||
| float | bltrav, | |||
| std::vector< int > & | moves | |||
| ) |
return a path from points 'a' to 'b'
Definition at line 312 of file TopologicalMap.C.
References ASSERT, min(), and TOPOMAP_MOVE_FORWARD.
get the distance from the point to the segment also return the intersecting node
Definition at line 487 of file TopologicalMap.C.
References ASSERT.
| float TopologicalMap::getSegmentLength | ( | uint | index | ) |
get the length of the segment
Definition at line 560 of file TopologicalMap.C.
References ASSERT.
Referenced by getLocationFloat(), and getNodesInInterval().
| float TopologicalMap::getSegmentLengthTraveled | ( | Point2D< int > | loc | ) |
convert Point2D<int> location to segment length traveled
Definition at line 643 of file TopologicalMap.C.
convert Point2D<int> location to segment number
Definition at line 632 of file TopologicalMap.C.
| uint TopologicalMap::getSegmentNum | ( | ) | [inline] |
get segment size
Definition at line 226 of file TopologicalMap.H.
| bool TopologicalMap::read | ( | std::string | fileName | ) | [virtual] |
read a map from a file
Implements Map.
Definition at line 68 of file TopologicalMap.C.
References Point2D< T >::distance().
Referenced by TopologicalMap().
| bool TopologicalMap::write | ( | std::string | fileName | ) | [virtual] |
1.6.3