Implements the functionalities for a robot. More...

#include <stdr_gui_robot.h>

Public Member Functions
	CGuiRobot (const stdr_msgs::RobotIndexedMsg &msg)
	Default contructor.
bool	checkEventProximity (QPoint p)
	Checks if the robot is near a specific point.
void	destroy (void)
	Destroys the robot object.
void	draw (QImage m, float ocgd, tf::TransformListener listener)
	Paints the robot and it's sensors to the image.
void	drawLabel (QImage *m, float ocgd)
	Draws the robot's label.
char	getCO2SensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status.
QPoint	getCurrentPose (void)
	Returns the current robot pose.
geometry_msgs::Pose2D	getCurrentPoseM (void)
	Returns the current robot pose in meters.
std::string	getFrameId (void)
	Returns the frame id of the specific robot.
int	getLasersNumber (void)
	Returns the lasers number.
char	getLaserVisualizationStatus (std::string frame_id)
	Returns the laser visibility status.
char	getRfidReaderVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status.
bool	getShowLabel (void)
	Gets the show_label_ flag.
int	getSonarsNumber (void)
	Returns the sonars number.
char	getSonarVisualizationStatus (std::string frame_id)
	Returns the sonar visibility status.
char	getSoundSensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status.
std::pair< float, float >	getSpeeds (void)
	Returns the current robot speed.
char	getThermalSensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status.
QImage	getVisualization (float ocgd)
	Returns the visualization image of the robot.
char	getVisualizationStatus (void)
	Returns the visibility status.
void	setEnvironmentalCO2Sources (stdr_msgs::CO2SourceVector env_co2_sources)
	Sets the tags existent in the environment.
void	setEnvironmentalSoundSources (stdr_msgs::SoundSourceVector env_sound_sources)
	Sets the sound sources existent in the environment.
void	setEnvironmentalTags (stdr_msgs::RfidTagVector env_tags)
	Sets the tags existent in the environment.
void	setEnvironmentalThermalSources (stdr_msgs::ThermalSourceVector env_thermal_sources)
	Sets the thermal sources existent in the environment.
void	setShowLabel (bool b)
	Sets the show_label_ flag.
void	speedsCallback (const geometry_msgs::Twist &msg)
	Callback for the ros laser message.
void	toggleCO2SensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status.
void	toggleLaserVisualizationStatus (std::string frame_id)
	Toggles the laser visibility status.
void	toggleRfidReaderVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status.
void	toggleShowCircles (void)
	Toggles the show_circles_ flag.
void	toggleShowLabel (void)
	Toggles the show_label_ flag.
void	toggleSonarVisualizationStatus (std::string frame_id)
	Toggles the sonar visibility status.
void	toggleSoundSensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status.
void	toggleThermalSensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status.
void	toggleVisualizationStatus (void)
	Toggles the visibility status.
	~CGuiRobot (void)
	Default destructor.
Private Member Functions
void	drawSelf (QImage *m)
	Draws the robot body.
Private Attributes
float	angular_speed_
	Radius of robot if shape is circular.
std::vector< CGuiCO2 * >	co2_sensors_
	Robot Rfid antenna sensors.
geometry_msgs::Pose2D	current_pose_
	Robot footprint if not circular.
stdr_msgs::FootprintMsg	footprint_
	Visualization image.
std::string	frame_id_
	Initial robot pose.
geometry_msgs::Pose2D	initial_pose_
	Current robot pose.
std::vector< CGuiLaser * >	lasers_
	Robot sonar sensors.
float	linear_speed_
	Robot current angular speed.
float	radius_
	Map resolution.
float	resolution_
	Robot laser sensors.
std::vector< CGuiRfid * >	rfids_
	Robot Rfid antenna sensors.
bool	robot_initialized_
	Check for start.
bool	show_circles_
	True when robot is initialized.
bool	show_label_
	< If true the robot's label is visible
std::vector< CGuiSonar * >	sonars_
	Robot Rfid antenna sensors.
std::vector< CGuiSound * >	sound_sensors_
	Robot frame id.
ros::Subscriber	speeds_subscriber_
	Robot current linear speed.
bool	started_
	Subscriber for the speeds twist message.
std::vector< CGuiThermal * >	thermal_sensors_
	Robot Rfid antenna sensors.
QImage	visualization
char	visualization_status_

Detailed Description

Implements the functionalities for a robot.

Definition at line 43 of file stdr_gui_robot.h.

Constructor & Destructor Documentation

stdr_gui::CGuiRobot::CGuiRobot ( const stdr_msgs::RobotIndexedMsg & msg )

Default contructor.

Parameters:

msg	[const stdr_msgs::RobotIndexedMsg&] The robot description msg

Returns:: void

Definition at line 31 of file stdr_gui_robot.cpp.

stdr_gui::CGuiRobot::~CGuiRobot ( void )

Default destructor.

Returns:: void

Definition at line 262 of file stdr_gui_robot.cpp.

Member Function Documentation

bool stdr_gui::CGuiRobot::checkEventProximity ( QPoint p )

Checks if the robot is near a specific point.

Parameters:

p	[QPoint] A point

Returns:: bool : True if the robot is in proximity with p

Definition at line 250 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::destroy ( void )

Destroys the robot object.

Returns:: void

Definition at line 271 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::draw	(	QImage *	m,
		float	ocgd,
		tf::TransformListener *	listener
	)

Paints the robot and it's sensors to the image.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution
listener	[tf::TransformListener *] ROS tf listener to get the robot's current pose

Returns:: void

Definition at line 94 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::drawLabel	(	QImage *	m,
		float	ocgd
	)

Draws the robot's label.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution

Returns:: void

Definition at line 297 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::drawSelf ( QImage * m ) [private]

Draws the robot body.

Parameters:

m	[QImage*] The image for the robot to draw itself

Returns:: void The robot visibility status

Parameters:

m	[QImage*] The image for the robot to draw itself

Returns:: void

Definition at line 166 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getCO2SensorVisualizationStatus ( std::string frame_id )

Returns the rfid reader visibility status.

Returns the co2 sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: char

Parameters:

frame_id [std::string] The co2 sensor frame id

Returns:: char

Definition at line 476 of file stdr_gui_robot.cpp.

QPoint stdr_gui::CGuiRobot::getCurrentPose ( void )

Returns the current robot pose.

Returns:: QPoint : The current robot pose

Definition at line 368 of file stdr_gui_robot.cpp.

geometry_msgs::Pose2D stdr_gui::CGuiRobot::getCurrentPoseM ( void )

Returns the current robot pose in meters.

Returns:: geometry_msgs::Pose2D : The current robot pose

Definition at line 378 of file stdr_gui_robot.cpp.

std::string stdr_gui::CGuiRobot::getFrameId ( void )

Returns the frame id of the specific robot.

Returns:: std::string : The robot frame id

Definition at line 286 of file stdr_gui_robot.cpp.

int stdr_gui::CGuiRobot::getLasersNumber ( void )

Returns the lasers number.

Returns:: int : the lasers number

Definition at line 387 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getLaserVisualizationStatus ( std::string frame_id )

Returns the laser visibility status.

Parameters:

frame_id [std::string] The laser frame id

Returns:: char

Definition at line 442 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getRfidReaderVisualizationStatus ( std::string frame_id )

Returns the rfid reader visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: char

Definition at line 459 of file stdr_gui_robot.cpp.

bool stdr_gui::CGuiRobot::getShowLabel ( void )

Gets the show_label_ flag.

Returns:: bool : show_label_

Definition at line 341 of file stdr_gui_robot.cpp.

int stdr_gui::CGuiRobot::getSonarsNumber ( void )

Returns the sonars number.

Returns:: int : the sonars number

Definition at line 396 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getSonarVisualizationStatus ( std::string frame_id )

Returns the sonar visibility status.

Parameters:

frame_id [std::string] The sonar frame id

Returns:: char

Definition at line 543 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getSoundSensorVisualizationStatus ( std::string frame_id )

Returns the rfid reader visibility status.

Returns the sound sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: char

Parameters:

frame_id [std::string] The sound sensor frame id

Returns:: char

Definition at line 510 of file stdr_gui_robot.cpp.

std::pair< float, float > stdr_gui::CGuiRobot::getSpeeds ( void )

Returns the current robot speed.

Returns:: std::pair<float,float> : The linear and angular speeds

Definition at line 678 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getThermalSensorVisualizationStatus ( std::string frame_id )

Returns the rfid reader visibility status.

Returns the thermal sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: char

Parameters:

frame_id [std::string] The thermal sensor frame id

Returns:: char

Definition at line 493 of file stdr_gui_robot.cpp.

QImage stdr_gui::CGuiRobot::getVisualization ( float ocgd )

Returns the visualization image of the robot.

Returns the visibility status.

Parameters:

ocgd	[float] The map resolution

Returns:: QImage : The drawn image; char

Definition at line 405 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getVisualizationStatus ( void )

Returns the visibility status.

Returns:: char

Definition at line 636 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::setEnvironmentalCO2Sources ( stdr_msgs::CO2SourceVector env_co2_sources )

Sets the tags existent in the environment.

Sets the co2 sources existent in the environment.

Parameters:

env_tags [stdr_msgs::RfidTagVector] The tag vector

Returns:: void

Definition at line 699 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::setEnvironmentalSoundSources ( stdr_msgs::SoundSourceVector env_sound_sources )

Sets the sound sources existent in the environment.

Definition at line 719 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::setEnvironmentalTags ( stdr_msgs::RfidTagVector env_tags )

Sets the tags existent in the environment.

Parameters:

env_tags [stdr_msgs::RfidTagVector] The tag vector

Returns:: void

Definition at line 688 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::setEnvironmentalThermalSources ( stdr_msgs::ThermalSourceVector env_thermal_sources )

Sets the thermal sources existent in the environment.

Definition at line 709 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::setShowLabel ( bool b )

Sets the show_label_ flag.

Parameters:

b	[bool] True for showing the label

Returns:: void

Definition at line 332 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::speedsCallback ( const geometry_msgs::Twist & msg )

Callback for the ros laser message.

Parameters:

msg	[const sensor_msgs::LaserScan&] The new laser scan message

Returns:: void

Definition at line 81 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleCO2SensorVisualizationStatus ( std::string frame_id )

Toggles the rfid reader visibility status.

Toggles the co2 sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: void

Parameters:

frame_id [std::string] The co2 sensor frame id

Returns:: void

Definition at line 591 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleLaserVisualizationStatus ( std::string frame_id )

Toggles the laser visibility status.

Parameters:

frame_id [std::string] The laser frame id

Returns:: void

Definition at line 527 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleRfidReaderVisualizationStatus ( std::string frame_id )

Toggles the rfid reader visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: void

Definition at line 576 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleShowCircles ( void )

Toggles the show_circles_ flag.

Returns:: void

Definition at line 359 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleShowLabel ( void )

Toggles the show_label_ flag.

Gets the show_label_ flag.

Returns:: void; bool : show_label_

Definition at line 350 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleSonarVisualizationStatus ( std::string frame_id )

Toggles the sonar visibility status.

Parameters:

frame_id [std::string] The sonar frame id

Returns:: void

Definition at line 560 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleSoundSensorVisualizationStatus ( std::string frame_id )

Toggles the rfid reader visibility status.

Toggles the sound sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: void

Parameters:

frame_id [std::string] The sound sensor frame id

Returns:: void

Definition at line 621 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleThermalSensorVisualizationStatus ( std::string frame_id )

Toggles the rfid reader visibility status.

Toggles the thermal sensor visibility status.

Parameters:

frame_id [std::string] The rfid reader frame id

Returns:: void

Parameters:

frame_id [std::string] The thermal sensor frame id

Returns:: void

Definition at line 606 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleVisualizationStatus ( void )

Toggles the visibility status.

Returns:: void

Definition at line 645 of file stdr_gui_robot.cpp.

Member Data Documentation

float stdr_gui::CGuiRobot::angular_speed_ [private]

Radius of robot if shape is circular.

Definition at line 66 of file stdr_gui_robot.h.

std::vector<CGuiCO2*> stdr_gui::CGuiRobot::co2_sensors_ [private]

Robot Rfid antenna sensors.

Definition at line 79 of file stdr_gui_robot.h.

geometry_msgs::Pose2D stdr_gui::CGuiRobot::current_pose_ [private]

Robot footprint if not circular.

Definition at line 91 of file stdr_gui_robot.h.

stdr_msgs::FootprintMsg stdr_gui::CGuiRobot::footprint_ [private]

Visualization image.

Definition at line 94 of file stdr_gui_robot.h.

std::string stdr_gui::CGuiRobot::frame_id_ [private]

Initial robot pose.

Definition at line 86 of file stdr_gui_robot.h.

geometry_msgs::Pose2D stdr_gui::CGuiRobot::initial_pose_ [private]

Current robot pose.

Definition at line 88 of file stdr_gui_robot.h.

std::vector<CGuiLaser*> stdr_gui::CGuiRobot::lasers_ [private]

Robot sonar sensors.

Definition at line 73 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::linear_speed_ [private]

Robot current angular speed.

Definition at line 63 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::radius_ [private]

Map resolution.

Definition at line 68 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::resolution_ [private]

Robot laser sensors.

Definition at line 71 of file stdr_gui_robot.h.

std::vector<CGuiRfid*> stdr_gui::CGuiRobot::rfids_ [private]

Robot Rfid antenna sensors.

Definition at line 77 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::robot_initialized_ [private]

Check for start.

Definition at line 55 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::show_circles_ [private]

True when robot is initialized.

Definition at line 52 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::show_label_ [private]

< If true the robot's label is visible

If true the proximity circles are visible

Definition at line 50 of file stdr_gui_robot.h.

std::vector<CGuiSonar*> stdr_gui::CGuiRobot::sonars_ [private]

Robot Rfid antenna sensors.

Definition at line 75 of file stdr_gui_robot.h.

std::vector<CGuiSound*> stdr_gui::CGuiRobot::sound_sensors_ [private]

Robot frame id.

Definition at line 84 of file stdr_gui_robot.h.

ros::Subscriber stdr_gui::CGuiRobot::speeds_subscriber_ [private]

Robot current linear speed.

Definition at line 61 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::started_ [private]

Subscriber for the speeds twist message.

Definition at line 58 of file stdr_gui_robot.h.

std::vector<CGuiThermal*> stdr_gui::CGuiRobot::thermal_sensors_ [private]

Robot Rfid antenna sensors.

Definition at line 81 of file stdr_gui_robot.h.

QImage stdr_gui::CGuiRobot::visualization [private]

Definition at line 95 of file stdr_gui_robot.h.

char stdr_gui::CGuiRobot::visualization_status_ [private]

Definition at line 105 of file stdr_gui_robot.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation