ModelBlobfinder class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelBlobfinder:

Classes
class	Blob

class	Vis

Public Member Functions
void	AddColor (Color col)

Blob *	GetBlobs (unsigned int *count)

std::vector< Blob >	GetBlobs () const

virtual void	Load ()

	ModelBlobfinder (World world, Model parent, const std::string &type)

void	RemoveAllColors ()

void	RemoveColor (Color col)

virtual void	Shutdown ()

virtual void	Startup ()

virtual void	Update ()

	~ModelBlobfinder ()

Public Member Functions inherited from Stg::Model
Block *	AddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)

void	AddCallback (callback_type_t type, model_callback_t cb, void *user)

void	AddFlag (Flag *flag)

void	AddToPose (const Pose &pose)

void	AddToPose (double dx, double dy, double dz, double da)

void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)

void	BecomeParentOf (Model *child)

int	CallCallbacks (callback_type_t type)

void	ClearBlocks ()

bool	DataIsFresh () const

void	Disable ()

void	Enable ()

PowerPack *	FindPowerPack () const

Model *	GetChild (const std::string &name) const

Color	GetColor () const

usec_t	GetEnergyInterval () const

int	GetFiducialReturn () const

unsigned int	GetFlagCount () const

Geom	GetGeom () const

Pose	GetGlobalPose () const

Velocity	GetGlobalVelocity () const

uint32_t	GetId () const

usec_t	GetInterval ()

kg_t	GetMassOfChildren () const

const std::string &	GetModelType () const

Pose	GetPose () const

std::string	GetSayString ()

unsigned int	GetSubscriptionCount () const

kg_t	GetTotalMass () const

Model *	GetUnsubscribedModelOfType (const std::string &type) const

Model *	GetUnusedModelOfType (const std::string &type)

usec_t	GetUpdateInterval () const

World *	GetWorld () const

Pose	GlobalToLocal (const Pose &pose) const

bool	HasSubscribers () const

void	InitControllers ()

bool	IsAntecedent (const Model *testmod) const

bool	IsDescendent (const Model *testmod) const

bool	IsRelated (const Model *testmod) const

void	Load (Worldfile *wf, int wf_entity)

void	LoadBlock (Worldfile *wf, int entity)

void	LoadControllerModule (const char *lib)

Pose	LocalToGlobal (const Pose &pose) const

point_t	LocalToGlobal (const point_t &pt) const

std::vector< point_int_t >	LocalToPixels (const std::vector< point_t > &local) const

	Model (World world, Model parent=NULL, const std::string &type="model", const std::string &name="")

	Model ()

void	NeedRedraw ()

Model *	Parent () const

void	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax)

virtual void	PopColor ()

Flag *	PopFlag ()

std::string	PoseString ()

virtual void	Print (char *prefix) const

virtual const char *	PrintWithPose () const

virtual void	PushColor (Color col)

virtual void	PushColor (double r, double g, double b, double a)

void	PushFlag (Flag *flag)

void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)

void	Redraw ()

int	RemoveCallback (callback_type_t type, model_callback_t callback)

void	RemoveFlag (Flag *flag)

void	RemoveVisualizer (Visualizer *custom_visual)

Model *	Root ()

virtual void	Save ()

void	Say (const std::string &str)

void	SetBlobReturn (bool val)

void	SetBoundary (bool val)

void	SetColor (Color col)

void	SetFiducialKey (int key)

void	SetFiducialReturn (int fid)

void	SetFriction (double friction)

void	SetGeom (const Geom &src)

void	SetGlobalPose (const Pose &gpose)

void	SetGlobalVelocity (const Velocity &gvel)

void	SetGravityReturn (bool val)

void	SetGripperReturn (bool val)

void	SetGuiGrid (bool val)

void	SetGuiMove (bool val)

void	SetGuiNose (bool val)

void	SetGuiOutline (bool val)

void	SetMapResolution (meters_t res)

void	SetMass (kg_t mass)

void	SetObstacleReturn (bool val)

int	SetParent (Model *newparent)

void	SetPose (const Pose &pose)

void	SetRangerReturn (double val)

void	SetRangerReturn (bool val)

void	SetStall (bool stall)

void	SetStickyReturn (bool val)

virtual void	SetToken (const std::string &str)

void	SetWatts (watts_t watts)

void	SetWorldfile (Worldfile *wf, int wf_entity)

bool	Stalled () const

void	Subscribe ()

void	Unsubscribe ()

virtual	~Model ()

Public Member Functions inherited from Stg::Ancestor
virtual void	AddChild (Model *mod)

	Ancestor ()

void	ForEachDescendant (model_callback_t func, void *arg)

std::vector< Model * > &	GetChildren ()

void *	GetProperty (std::string &key)

virtual void	RemoveChild (Model *mod)

void	SetProperty (std::string &key, void *value)

const char *	Token () const

const std::string &	TokenStr () const

virtual	~Ancestor ()

Public Attributes
radians_t	fov

radians_t	pan

meters_t	range

unsigned int	scan_height

unsigned int	scan_width

Stg::ModelBlobfinder::Vis	vis

Public Attributes inherited from Stg::Model
class Stg::Model::Visibility	vis

Static Private Member Functions
static bool	BlockMatcher (Block testblock, Model finder)

Private Attributes
std::vector< Blob >	blobs

std::vector< Color >	colors

Additional Inherited Members
Public Types inherited from Stg::Model
enum	callback_type_t { CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT, CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE, CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY, __CB_TYPE_COUNT }

Static Public Member Functions inherited from Stg::Model
static Model *	LookupId (uint32_t id)

Static Public Attributes inherited from Stg::Model
static std::map< std::string, creator_t >	name_map

Protected Member Functions inherited from Stg::Model
void	AppendTouchingModels (std::set< Model * > &touchers)

void	CallUpdateCallbacks (void)

void	CommitTestedPose ()

virtual void	DataVisualize (Camera *cam)

void	DataVisualizeTree (Camera *cam)

virtual void	DrawBlocks ()

void	DrawBlocksTree ()

void	DrawBoundingBox ()

void	DrawBoundingBoxTree ()

void	DrawFlagList ()

void	DrawGrid ()

void	DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)

void	DrawOrigin ()

void	DrawOriginTree ()

virtual void	DrawPicker ()

void	DrawPose (Pose pose)

virtual void	DrawSelected (void)

virtual void	DrawStatus (Camera *cam)

void	DrawStatusTree (Camera *cam)

void	DrawTrailArrows ()

void	DrawTrailBlocks ()

void	DrawTrailFootprint ()

void	Map (unsigned int layer)

void	Map ()

void	MapFromRoot (unsigned int layer)

void	MapWithChildren (unsigned int layer)

meters_t	ModelHeight () const

void	PopCoords ()

void	PushLocalCoords ()

RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)

void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)

RaytraceResult	Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)

void	Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)

void	RegisterOption (Option *opt)

Model *	TestCollision ()

void	UnMap (unsigned int layer)

void	UnMap ()

void	UnMapFromRoot (unsigned int layer)

void	UnMapWithChildren (unsigned int layer)

virtual void	UpdateCharge ()

void	UpdateTrail ()

Protected Member Functions inherited from Stg::Ancestor
Ancestor &	Load (Worldfile *wf, int section)

void	Save (Worldfile *wf, int section)

Static Protected Member Functions inherited from Stg::Model
static int	UpdateWrapper (Model mod, void arg)

Protected Attributes inherited from Stg::Model
bool	alwayson

BlockGroup	blockgroup

int	blocks_dl

int	boundary

std::vector< std::set< cb_t > >	callbacks

Color	color

std::list< Visualizer * >	cv_list

bool	data_fresh

bool	disabled

unsigned int	event_queue_num

std::list< Flag * >	flag_list

double	friction

Geom	geom

class Stg::Model::GuiState	gui

bool	has_default_block

uint32_t	id

usec_t	interval
	time between updates in usec More...

usec_t	interval_energy
	time between updates of powerpack in usec More...

usec_t	last_update
	time of last update in us More...

bool	log_state
	iff true, model state is logged More...

meters_t	map_resolution

kg_t	mass

Model *	parent

Pose	pose

PowerPack *	power_pack

std::list< PowerPack * >	pps_charging

Stg::Model::RasterVis	rastervis

bool	rebuild_displaylist
	iff true, regenerate block display list before redraw More...

std::string	say_string
	if non-empty, this string is displayed in the GUI More...

bool	stack_children
	whether child models should be stacked on top of this model or not More...

bool	stall
	Set to true iff the model collided with something else. More...

int	subs
	the number of subscriptions to this model More...

bool	thread_safe

std::vector< TrailItem >	trail

unsigned int	trail_index

const std::string	type

bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType() More...

watts_t	watts
	power consumed by this model More...

watts_t	watts_give

watts_t	watts_take

Worldfile *	wf

int	wf_entity

World *	world

WorldGui *	world_gui

Protected Attributes inherited from Stg::Ancestor
std::map< std::string, unsigned int >	child_type_counts

std::vector< Model * >	children

bool	debug

std::map< std::string, void * >	props

std::string	token

Static Protected Attributes inherited from Stg::Model
static uint64_t	trail_interval

static unsigned int	trail_length

Detailed Description

ModelBlobfinder class

Definition at line 2483 of file stage.hh.

Constructor & Destructor Documentation

ModelBlobfinder::ModelBlobfinder	(	World *	world,
		Model *	parent,
		const std::string &	type
	)

Definition at line 82 of file model_blobfinder.cc.

ModelBlobfinder::~ModelBlobfinder ( void )

Definition at line 103 of file model_blobfinder.cc.

Member Function Documentation

void Stg::ModelBlobfinder::AddColor ( Color col )

Start finding blobs with this color.

static bool Stg::ModelBlobfinder::BlockMatcher	(	Block *	testblock,
		Model *	finder
	)

staticprivate

Blob* Stg::ModelBlobfinder::GetBlobs ( unsigned int * count )

inline

Definition at line 2531 of file stage.hh.

std::vector<Blob> Stg::ModelBlobfinder::GetBlobs ( ) const

inline

Definition at line 2537 of file stage.hh.

void ModelBlobfinder::Load ( void )

virtual

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 147 of file model_blobfinder.cc.

void ModelBlobfinder::RemoveAllColors ( )

Stop tracking all colors. Call this to clear the defaults, then add colors individually with AddColor();

Definition at line 142 of file model_blobfinder.cc.

void ModelBlobfinder::RemoveColor ( Color col )

Stop tracking blobs with this color

Definition at line 131 of file model_blobfinder.cc.

void ModelBlobfinder::Shutdown ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 281 of file model_blobfinder.cc.

void ModelBlobfinder::Startup ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 271 of file model_blobfinder.cc.

void ModelBlobfinder::Update ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 179 of file model_blobfinder.cc.

Member Data Documentation

std::vector<Blob> Stg::ModelBlobfinder::blobs

private

Definition at line 2506 of file stage.hh.

std::vector<Color> Stg::ModelBlobfinder::colors

private

Definition at line 2507 of file stage.hh.

radians_t Stg::ModelBlobfinder::fov

Definition at line 2513 of file stage.hh.

radians_t Stg::ModelBlobfinder::pan

Definition at line 2514 of file stage.hh.

meters_t Stg::ModelBlobfinder::range

Definition at line 2515 of file stage.hh.

unsigned int Stg::ModelBlobfinder::scan_height

Definition at line 2516 of file stage.hh.

unsigned int Stg::ModelBlobfinder::scan_width

Definition at line 2517 of file stage.hh.

Stg::ModelBlobfinder::Vis Stg::ModelBlobfinder::vis

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

Classes

Public Member Functions

Public Attributes

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation