BeoSub Class Reference

Definition and access functions for the BeoSub base class. More...

#include <BeoSub/BeoSub.H>

Inheritance diagram for BeoSub:

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Collaboration diagram for BeoSub:

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List of all members.

Public Member Functions
Constructors and Destructors

	BeoSub (OptionManager &mgr, const std::string &descrName="BeoSub", const std::string &tagName="BeoSub")
	Constructor.
virtual	~BeoSub ()
	Destructor.
Mid-level access functions

bool	targetReached (const float tol=1.0F) const
	Have we reached the latest set target?
void	waitMove (const double timeout)
	Wait until a move is complete. Timeout is in seconds.
void	turnAbs (const Angle finalHeading, const bool blocking=false)
	Turn the sub to the given heading.
void	turnRel (const Angle relHeading, const bool blocking=false)
	Turns the sub to the given heading relative to our current heading.
virtual void	turnOpen (const Angle openHeading, const bool stop=true)=0
void	pitchAbs (const Angle finalPitch, const bool blocking=false)
	Pitch the sub to a given angle.
void	diveAbs (const float finalDepth, const bool blocking=false)
	Makes the sub dive to a specific depth in meters.
void	diveRel (const float relDepth, const bool blocking=false)
	Makes the sub dive to a specific depth relative to current.
virtual void	advanceRel (const float relDist, const bool stop=true)=0
	Advance the sub by some distance in meters.
virtual void	strafeRel (const float relDist)
	Strafes the sub by some distance in meters.
virtual void	dropMarker (const bool blocking=false)=0
	Drop a marker.
Visual processing functions

virtual Image< PixRGB< byte > >	grabImage (const enum BeoSubCamera cam) const =0
	Grab a an image from one of the cameras.
virtual Image< float >	getSaliencyMap (const enum BeoSubCamera cam) const
	Get saliency map from a given camera.
bool	matchSIFT (const enum BeoSubCamera cam, const rutz::shared_ptr< VisualObject > &obj) const
	match a known object to a grabbed image
virtual bool	recognizeSIFT (const enum BeoSubCamera cam, MappingData &data, Angle &myHeading) const
	Recognize an image from our camera against our image databases.
virtual bool	affineSIFT (const enum BeoSubCamera cam, rutz::shared_ptr< VisualObject > goal)
virtual bool	findShape (rutz::shared_ptr< ShapeModel > &shapeArg, const char *colorArg, const enum BeoSubCamera camArg) const
virtual bool	centerColor (const char *colorArg, const enum BeoSubCamera camArg, float &thresholdMass)
virtual bool	approachArea (std::string name, const enum BeoSubCamera cam, float stepdist)
virtual bool	approachArea (MappingData goalArea, MappingData currentArea, float stepDist)
virtual bool	Decode ()
virtual bool	TaskGate ()
virtual bool	TaskA ()
virtual bool	TaskB ()
virtual bool	TaskC ()
bool	TaskScheduler (int TaskOrder)
bool	LookForRedLight ()
bool	CenterRedLight ()
bool	ApproachRedLight ()
bool	PushRedLight ()
virtual bool	ApproachPipeLine ()
bool	FollowPipeLine ()
int	RecognizeBin ()
bool	TestBin (nub::soft_ref< FrameIstream > gb, int testColor)
bool	CenterBin ()
bool	DropMarker ()
bool	PassBin ()
Low-level access functions

double	getTime () const
	Get time since started, in seconds.
Attitude	getCurrentAttitude () const
	Gets the Current Attitude of the Sub.
Attitude	getTargetAttitude () const
	Gets the Target Attitude of the Sub.
Angle	getHeading () const
	Get current heading (yaw axis), in degrees, ]-180.0 .. 180.0].
Angle	getPitch () const
	Get current pitch, in degrees, ]-180.0 .. 180.0].
Angle	getRoll () const
	Get current roll, in degrees, ]-180.0 .. 180.0].
void	getCompass (Angle &heading, Angle &pitch, Angle &roll) const
	Shorthand to get all 3 compass readings.
float	getDepth () const
	Get current depth (units in meters).
Public Attributes
bool	taskAdone
bool	taskBdone
bool	taskCdone
std::list< char >	itsTasks
std::list< char >::iterator	itsTasksIter
rutz::shared_ptr< VisualObject >	itsVOtaskAdown
rutz::shared_ptr< VisualObject >	itsVOtaskAfront
rutz::shared_ptr< VisualObject >	itsVOtaskBdown
rutz::shared_ptr< VisualObject >	itsVOtaskBfront
rutz::shared_ptr< VisualObject >	itsVOtaskCdown
rutz::shared_ptr< VisualObject >	itsVOtaskCfront
rutz::shared_ptr< VisualObject >	itsVOtaskCup
rutz::shared_ptr< VisualObject >	itsVOtaskGdown
rutz::shared_ptr< VisualObject >	itsVOtaskGfront
rutz::shared_ptr< VisualObject >	itsVOtaskGup
rutz::shared_ptr< VisualObject >	itsVOtaskDfront
Location	taskAposition
Location	taskBposition
Location	taskCposition
Location	taskGposition
Protected Member Functions
virtual void	start1 ()
	get started
Protected Attributes
OModelParam< std::string >	itsFrontVODBfname
	file name of front object db
rutz::shared_ptr< VisualObjectDB >	itsFrontVODB
	front object db
OModelParam< std::string >	itsDownVODBfname
	file name of down object db
rutz::shared_ptr< VisualObjectDB >	itsDownVODB
	down object db
OModelParam< std::string >	itsUpVODBfname
	file name of up object db
rutz::shared_ptr< VisualObjectDB >	itsUpVODB
	up object db
Timer	itsMasterClock
	our master clock, unit is useconds
int	itsCkPt
	our checkpoint number
Attitude	itsCurrentAttitude
	the current Attitude of the sub
Location	itsGlobalPosition
Angle	itsGlobalHeading
Attitude	itsTargetAttitude
	target (desired) Attitude of the sub
nub::soft_ref< RawVisualCortex >	itsVisualCortex
	To compute saliency maps.
std::string	itsFrontDBfname
	file name of front data db
rutz::shared_ptr< BeoSubDB >	itsFrontDB
	front data db
std::string	itsDownDBfname
	file name of down data db
rutz::shared_ptr< BeoSubDB >	itsDownDB
	down data db
std::string	itsUpDBfname
	file name of up data db
rutz::shared_ptr< BeoSubDB >	itsUpDB
	up data db
nub::soft_ref< BeoSubCanny >	itsShapeDetector
nub::soft_ref< BeoSubTaskDecoder >	itsTaskDecoder
nub::soft_ref< ColorTracker >	itsColorTracker
nub::soft_ref< ColorTracker >	itsColorTracker2
bool	decoderIsRed
pthread_mutex_t	itsLock
	lock to control access to our internal data

Detailed Description

Definition and access functions for the BeoSub base class.

BeoSub is an autonomous visually-guided submarine. This class implements the high-level functionality, relying on low-level drivers to handle motor activation, compass reading, etc. This is the base class. Some functions are purely virtual and need to be overloaded in various derived classes.

Definition at line 78 of file BeoSub.H.

Constructor & Destructor Documentation

BeoSub::BeoSub	(	OptionManager &	mgr,
		const std::string &	descrName = `"BeoSub"`,
		const std::string &	tagName = `"BeoSub"`
	)

Constructor.

Definition at line 51 of file BeoSub.C.

References ModelComponent::addSubComponent(), itsLock, and itsVisualCortex.

BeoSub::~BeoSub ( ) [virtual]

Destructor.

Definition at line 100 of file BeoSub.C.

References itsLock.

Member Function Documentation

virtual void BeoSub::advanceRel	(	const float	relDist,
		const bool	stop = `true`
	)			`[pure virtual]`

Advance the sub by some distance in meters.

Negative distance is to the rear, positive to the front. Distance is in meters (approximate). Note: this blocks for some time...

Implemented in BeoSubOneBal, BeoSubSim, SeaBee, and BeoSubLeakDetector.

Referenced by CenterBin(), FollowPipeLine(), and strafeRel().

bool BeoSub::CenterBin ( )

!!need to check if overturned 180 degrees

Definition at line 2268 of file BeoSub.C.

References ModelComponent::addSubComponent(), advanceRel(), Image< T >::getHeight(), Image< T >::getWidth(), grabImage(), height, makeIEEE1394grabber(), ModelComponent::start(), and turnRel().

Referenced by TaskB().

void BeoSub::diveAbs	(	const float	finalDepth,
		const bool	blocking = `false`
	)

Makes the sub dive to a specific depth in meters.

Reimplemented in BeoSubSim.

Definition at line 194 of file BeoSub.C.

References Attitude::depth, itsCurrentAttitude, itsLock, itsTargetAttitude, and waitMove().

void BeoSub::diveRel	(	const float	relDepth,
		const bool	blocking = `false`
	)

Makes the sub dive to a specific depth relative to current.

Negative depth is up, positive is down. Distance is in meters.

Reimplemented in BeoSubSim.

Definition at line 204 of file BeoSub.C.

References Attitude::depth, itsLock, itsTargetAttitude, and waitMove().

void BeoSub::dropMarker ( const bool blocking = false ) [pure virtual]

Drop a marker.

Implemented in BeoSubOneBal, BeoSubSim, BeoSubTwoBal, SeaBee, and BeoSubLeakDetector.

Definition at line 268 of file BeoSubTwoBal.C.

bool BeoSub::FollowPipeLine ( )

!!need to check if overturned 180 degrees

Definition at line 1949 of file BeoSub.C.

References ModelComponent::addSubComponent(), advanceRel(), Image< T >::getHeight(), Image< T >::getWidth(), height, makeIEEE1394grabber(), ModelComponent::start(), and turnRel().

Referenced by TaskB().

void BeoSub::getCompass	(	Angle &	heading,
		Angle &	pitch,
		Angle &	roll
	)			const

Shorthand to get all 3 compass readings.

Definition at line 286 of file BeoSub.C.

References getCurrentAttitude(), and Attitude::roll.

Attitude BeoSub::getCurrentAttitude ( ) const

Gets the Current Attitude of the Sub.

Definition at line 256 of file BeoSub.C.

References itsCurrentAttitude, and itsLock.

Referenced by getCompass(), getDepth(), getHeading(), getPitch(), and getRoll().

float BeoSub::getDepth ( ) const

Get current depth (units in meters).

Definition at line 293 of file BeoSub.C.

References Attitude::depth, and getCurrentAttitude().

Referenced by BeoSubActionTurn::BeoSubActionTurn(), and BeoSubActionDive::getPosition().

Angle BeoSub::getHeading ( ) const

Get current heading (yaw axis), in degrees, ]-180.0 .. 180.0].

Definition at line 274 of file BeoSub.C.

References getCurrentAttitude().

Referenced by BeoSubActionDive::BeoSubActionDive(), and BeoSubActionTurn::getPosition().

Angle BeoSub::getPitch ( ) const

Get current pitch, in degrees, ]-180.0 .. 180.0].

Definition at line 278 of file BeoSub.C.

References getCurrentAttitude().

Angle BeoSub::getRoll ( ) const

Get current roll, in degrees, ]-180.0 .. 180.0].

Definition at line 282 of file BeoSub.C.

References getCurrentAttitude(), and Attitude::roll.

Image< float > BeoSub::getSaliencyMap ( const enum BeoSubCamera cam ) const [virtual]

Get saliency map from a given camera.

For ease of use, the output saliency map returned here is rescaled (with bilinear interpolation) to the same dims as the grabbed input image.

Definition at line 307 of file BeoSub.C.

References InputFrame::fromRgb(), Timer::getSimTime(), grabImage(), itsMasterClock, and itsVisualCortex.

Attitude BeoSub::getTargetAttitude ( ) const

Gets the Target Attitude of the Sub.

Definition at line 265 of file BeoSub.C.

References itsLock, and itsTargetAttitude.

double BeoSub::getTime ( ) const

Get time since started, in seconds.

Definition at line 252 of file BeoSub.C.

References Timer::getSecs(), and itsMasterClock.

virtual Image< PixRGB<byte> > BeoSub::grabImage ( const enum BeoSubCamera cam ) const [pure virtual]

Grab a an image from one of the cameras.

Implemented in BeoSubOneBal, BeoSubSim, SeaBee, and BeoSubLeakDetector.

Referenced by CenterBin(), getSaliencyMap(), matchSIFT(), and recognizeSIFT().

bool BeoSub::matchSIFT	(	const enum BeoSubCamera	cam,
		const rutz::shared_ptr< VisualObject > &	obj
	)			const

match a known object to a grabbed image

Definition at line 387 of file BeoSub.C.

References VisualObjectMatch::checkSIFTaffine(), VisualObjectMatch::getScore(), grabImage(), and VisualObjectMatch::prune().

void BeoSub::pitchAbs	(	const Angle	finalPitch,
		const bool	blocking = `false`
	)

Pitch the sub to a given angle.

Definition at line 170 of file BeoSub.C.

References Angle::getVal(), itsCurrentAttitude, itsLock, itsTargetAttitude, and waitMove().

bool BeoSub::recognizeSIFT	(	const enum BeoSubCamera	cam,
		MappingData &	data,
		Angle &	myHeading
	)			const `[virtual]`

Recognize an image from our camera against our image databases.

Returns true if reliable recognition was achieved.

Definition at line 316 of file BeoSub.C.

References SIFTaffine::decompose(), grabImage(), itsDownDB, itsDownVODB, itsFrontDB, itsFrontVODB, itsUpDB, and itsUpVODB.

void BeoSub::start1 ( ) [protected, virtual]

get started

Reimplemented from ModelComponent.

Reimplemented in BeoSubOneBal, BeoSubSim, BeoSubTwoBal, and SeaBee.

Definition at line 106 of file BeoSub.C.

References OModelParam< T >::getVal(), itsDownDB, itsDownDBfname, itsDownVODB, itsDownVODBfname, itsFrontDB, itsFrontDBfname, itsFrontVODB, itsFrontVODBfname, itsUpDB, itsUpDBfname, itsUpVODB, and itsUpVODBfname.

void BeoSub::strafeRel ( const float relDist ) [virtual]

Strafes the sub by some distance in meters.

Negative distance is to the left, positive to the right. Distance is in meters (approximate). Note: this blocks for some time...

Reimplemented in BeoSubOneBal, and BeoSubSim.

Definition at line 214 of file BeoSub.C.

References advanceRel(), and turnRel().

bool BeoSub::targetReached ( const float tol = 1.0F ) const

Have we reached the latest set target?

A tol of 1.0F corresponds to +/- 10deg in heading and +/- 20cm in depth, these tolerances scaling linearly with tol. Pitch and roll are ignored, we just assume they will be stabilized by the PID controller and the sub will always remain level.

Definition at line 141 of file BeoSub.C.

References Attitude::depth, Angle::getVal(), itsCurrentAttitude, itsLock, and itsTargetAttitude.

Referenced by waitMove().

bool BeoSub::TaskB ( ) [virtual]

!!maybe need to change: looking for pipe and approaching pipe

Definition at line 1381 of file BeoSub.C.

References CenterBin(), FollowPipeLine(), and image.