VectorHistField Class Reference

Inheritance diagram for VectorHistField:

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Collaboration diagram for VectorHistField:

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List of all members.

Public Member Functions
	VectorHistField (OptionManager &mgr, const std::string &descrName="VectorHistField", const std::string &tagName="VectorHistField", const int width=300, const int height=300)
	Default constructor; see VectorField.H.
	~VectorHistField ()
	Destructor.
Image< PixRGB< byte > >	updateField (std::vector< Point2D< float > > sensorData, Point2D< int >robotPos, float robotOrient, float robotDist, Point2D< int > goal, Image< geom::vec2f > itsObsTemplate)
Image< geom::vec2f >	obstacleTemplate (float sigma, float amp)
	obstacleTemplate -- creates an obstacle template field
void	shiftField (int dist, int ang)
	shiftField -- shifts the field depending on how the robot moved
Protected Attributes
int	itsDist
int	itsAng

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Detailed Description

Definition at line 45 of file VectorHistField.H.

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Constructor & Destructor Documentation

VectorHistField::VectorHistField	(	OptionManager &	mgr,
		const std::string &	descrName = "VectorHistField",
		const std::string &	tagName = "VectorHistField",
		const int	width = 300,
		const int	height = 300
	)

Default constructor; see VectorField.H.

Definition at line 50 of file VectorHistField.C.

VectorHistField::~VectorHistField

(

)

Destructor.

Definition at line 60 of file VectorHistField.C.

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Member Function Documentation

Image< geom::vec2f > VectorHistField::obstacleTemplate	(	float	sigma,
		float	amp
	)

obstacleTemplate -- creates an obstacle template field

Definition at line 138 of file VectorHistField.C.

References angle(), Image< T >::beginw(), Image< T >::getDims(), Image< T >::getHeight(), Image< T >::getWidth(), Point2D< T >::i, and NO_INIT.

void VectorHistField::shiftField	(	int	dist,
		int	ang
	)

shiftField -- shifts the field depending on how the robot moved

Definition at line 178 of file VectorHistField.C.

References Point2D< T >::i, and shiftClean().

Image< PixRGB< byte > > VectorHistField::updateField	(	std::vector< Point2D< float > >	sensorData,
		Point2D< int >	robotPos,
		float	robotOrient,
		float	robotDist,
		Point2D< int >	goal,
		Image< geom::vec2f >	itsObsTemplate
	)

updateField() -- update the current field based on some sensor data of type Point2D<int> a; where a.i = distance a.j=angle of obstacle since this can be pretty implementation specific we keep this virtual so that different algorithms can implement their own implementation of this method.

Definition at line 64 of file VectorHistField.C.

References Image< T >::beginw(), Image< T >::clear(), Image< T >::end(), Image< T >::getDims(), Image< T >::getHeight(), Image< T >::getWidth(), Point2D< T >::i, VectorField::rotateGoalField(), VectorField::scaleFieldBy(), VectorField::scaleGoalFieldBy(), shiftClean(), and ZEROS.

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

• src/Robots/LoBot/control/VectorHistField.H
• src/Robots/LoBot/control/VectorHistField.C