Observers base class. More...
#include <observer.h>
Inheritance diagram for observers::Observer:
Public Types | |
| typedef art_msgs::Observation::_oid_type | Oid_t |
Public Member Functions | |
| art_msgs::ArtLanes | getObstaclesInLane (art_msgs::ArtLanes obstacles, art_msgs::ArtLanes lane_quads) |
| Observer (art_observers::ObserversConfig &config, Oid_t id, const std::string &name) | |
| bool | pointInLane (float x, float y, art_msgs::ArtLanes lane) |
| virtual art_msgs::Observation | update (const art_msgs::ArtLanes &local_map, const art_msgs::ArtLanes &obstacles, MapPose pose)=0 |
| ~Observer () | |
Protected Attributes | |
| art_observers::ObserversConfig | config_ |
| art_msgs::Observation | observation_ |
Detailed Description
Observers base class.
Definition at line 30 of file observer.h.
Member Typedef Documentation
Shorter typedef for observer ID
Definition at line 35 of file observer.h.
Constructor & Destructor Documentation
| observers::Observer::Observer | ( | art_observers::ObserversConfig & | config, |
| Oid_t | id, | ||
| const std::string & | name | ||
| ) | [inline] |
Constructor.
- Parameters:
-
config configuration structure id observer ID name observer name
Definition at line 43 of file observer.h.
Definition at line 20 of file observer.cc.
Member Function Documentation
| art_msgs::ArtLanes observers::Observer::getObstaclesInLane | ( | art_msgs::ArtLanes | obstacles, |
| art_msgs::ArtLanes | lane_quads | ||
| ) |
Definition at line 24 of file observer.cc.
| bool observers::Observer::pointInLane | ( | float | x, |
| float | y, | ||
| art_msgs::ArtLanes | lane | ||
| ) |
Used by all observers to get obstacles in polygons of interest
- Todo:
- move these out of this pure virtual base class.
| virtual art_msgs::Observation observers::Observer::update | ( | const art_msgs::ArtLanes & | local_map, |
| const art_msgs::ArtLanes & | obstacles, | ||
| MapPose | pose | ||
| ) | [pure virtual] |
Generic observer update function.
Called whenever there are new obstacle data, assuming the local_map is also available.
- Parameters:
-
robot_quad quadrilateral containing the robot local_map road map lanes within range of the robot obstacles local map quads currently containing obstacles pose current pose of robot
- Todo:
- Make pure virtual once deprecated version is deleted.
Implemented in observers::AdjacentLeft, observers::AdjacentRight, observers::NearestBackward, and observers::NearestForward.
Member Data Documentation
Definition at line 85 of file observer.h.
Definition at line 84 of file observer.h.
The documentation for this class was generated from the following files: