stdr_gui::CGuiRobot Class Reference

Implements the functionalities for a robot. More...

#include <stdr_gui_robot.h>

Public Member Functions
	CGuiRobot (const stdr_msgs::RobotIndexedMsg &msg)
	Default contructor. More...
bool	checkEventProximity (QPoint p)
	Checks if the robot is near a specific point. More...
void	destroy (void)
	Destroys the robot object. More...
void	draw (QImage *m, float ocgd, tf::TransformListener *listener)
	Paints the robot and it's sensors to the image. More...
void	drawLabel (QImage *m, float ocgd)
	Draws the robot's label. More...
char	getCO2SensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status. More...
QPoint	getCurrentPose (void)
	Returns the current robot pose. More...
geometry_msgs::Pose2D	getCurrentPoseM (void)
	Returns the current robot pose in meters. More...
std::string	getFrameId (void)
	Returns the frame id of the specific robot. More...
int	getLasersNumber (void)
	Returns the lasers number. More...
char	getLaserVisualizationStatus (std::string frame_id)
	Returns the laser visibility status. More...
char	getRfidReaderVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status. More...
bool	getShowLabel (void)
	Gets the show_label_ flag. More...
int	getSonarsNumber (void)
	Returns the sonars number. More...
char	getSonarVisualizationStatus (std::string frame_id)
	Returns the sonar visibility status. More...
char	getSoundSensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status. More...
std::vector< float >	getSpeeds (void)
	Returns the current robot speed. More...
char	getThermalSensorVisualizationStatus (std::string frame_id)
	Returns the rfid reader visibility status. More...
QImage	getVisualization (float ocgd)
	Returns the visualization image of the robot. More...
char	getVisualizationStatus (void)
	Returns the visibility status. More...
void	setEnvironmentalCO2Sources (stdr_msgs::CO2SourceVector env_co2_sources)
	Sets the tags existent in the environment. More...
void	setEnvironmentalSoundSources (stdr_msgs::SoundSourceVector env_sound_sources)
	Sets the sound sources existent in the environment. More...
void	setEnvironmentalTags (stdr_msgs::RfidTagVector env_tags)
	Sets the tags existent in the environment. More...
void	setEnvironmentalThermalSources (stdr_msgs::ThermalSourceVector env_thermal_sources)
	Sets the thermal sources existent in the environment. More...
void	setShowLabel (bool b)
	Sets the show_label_ flag. More...
void	speedsCallback (const geometry_msgs::Twist &msg)
	Callback for the ros laser message. More...
void	toggleCO2SensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status. More...
void	toggleLaserVisualizationStatus (std::string frame_id)
	Toggles the laser visibility status. More...
void	toggleRfidReaderVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status. More...
void	toggleShowCircles (void)
	Toggles the show_circles_ flag. More...
void	toggleShowLabel (void)
	Toggles the show_label_ flag. More...
void	toggleSonarVisualizationStatus (std::string frame_id)
	Toggles the sonar visibility status. More...
void	toggleSoundSensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status. More...
void	toggleThermalSensorVisualizationStatus (std::string frame_id)
	Toggles the rfid reader visibility status. More...
void	toggleVisualizationStatus (void)
	Toggles the visibility status. More...
	~CGuiRobot (void)
	Default destructor. More...

Private Member Functions
void	drawSelf (QImage *m)
	Draws the robot body. More...

Private Attributes
float	angular_speed_
	Radius of robot if shape is circular. More...
std::vector< CGuiCO2 * >	co2_sensors_
	Robot Rfid antenna sensors. More...
geometry_msgs::Pose2D	current_pose_
	Robot footprint if not circular. More...
stdr_msgs::FootprintMsg	footprint_
	Visualization image. More...
std::string	frame_id_
	Initial robot pose. More...
geometry_msgs::Pose2D	initial_pose_
	Current robot pose. More...
std::vector< CGuiLaser * >	lasers_
	Robot sonar sensors. More...
float	linear_speed_
	Robot current linear speed by Y. More...
float	linear_speed_y_
	Robot current angular speed. More...
float	radius_
	Map resolution. More...
float	resolution_
	Robot laser sensors. More...
std::vector< CGuiRfid * >	rfids_
	Robot Rfid antenna sensors. More...
bool	robot_initialized_
	Check for start. More...
bool	show_circles_
	True when robot is initialized. More...
bool	show_label_
	< If true the robot's label is visible More...
std::vector< CGuiSonar * >	sonars_
	Robot Rfid antenna sensors. More...
std::vector< CGuiSound * >	sound_sensors_
	Robot frame id. More...
ros::Subscriber	speeds_subscriber_
	Robot current linear speed. More...
bool	started_
	Subscriber for the speeds twist message. More...
std::vector< CGuiThermal * >	thermal_sensors_
	Robot Rfid antenna sensors. More...
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 263 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 251 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::destroy

(

void

)

Destroys the robot object.

Returns

void

Definition at line 272 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 95 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 298 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

voidThe robot visibility status

Parameters

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

Returns

void

Definition at line 167 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 477 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 369 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 379 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 287 of file stdr_gui_robot.cpp.

int stdr_gui::CGuiRobot::getLasersNumber

(

void

)

Returns the lasers number.

Returns

int : the lasers number

Definition at line 388 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 443 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 460 of file stdr_gui_robot.cpp.

bool stdr_gui::CGuiRobot::getShowLabel

(

void

)

Gets the show_label_ flag.

Returns

bool : show_label_

Definition at line 342 of file stdr_gui_robot.cpp.

int stdr_gui::CGuiRobot::getSonarsNumber

(

void

)

Returns the sonars number.

Returns

int : the sonars number

Definition at line 397 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 544 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 511 of file stdr_gui_robot.cpp.

std::vector< float > stdr_gui::CGuiRobot::getSpeeds

(

void

)

Returns the current robot speed.

Returns

std::vector<float> : The linear and angular speeds

Definition at line 679 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 494 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 406 of file stdr_gui_robot.cpp.

char stdr_gui::CGuiRobot::getVisualizationStatus

(

void

)

Returns the visibility status.

Returns

char

Definition at line 637 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 704 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 724 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 693 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 714 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 333 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 592 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 528 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 577 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleShowCircles

(

void

)

Toggles the show_circles_ flag.

Returns

void

Definition at line 360 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 351 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 561 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 622 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 607 of file stdr_gui_robot.cpp.

void stdr_gui::CGuiRobot::toggleVisualizationStatus

(

void

)

Toggles the visibility status.

Returns

void

Definition at line 646 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 80 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 87 of file stdr_gui_robot.h.

geometry_msgs::Pose2D stdr_gui::CGuiRobot::initial_pose_

private

Current robot pose.

Definition at line 89 of file stdr_gui_robot.h.

std::vector<CGuiLaser*> stdr_gui::CGuiRobot::lasers_

private

Robot sonar sensors.

Definition at line 74 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::linear_speed_

private

Robot current linear speed by Y.

Definition at line 62 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::linear_speed_y_

private

Robot current angular speed.

Definition at line 64 of file stdr_gui_robot.h.

float stdr_gui::CGuiRobot::radius_

private

Map resolution.

Definition at line 69 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 78 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::robot_initialized_

private

Check for start.

Definition at line 53 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::show_circles_

private

True when robot is initialized.

Definition at line 51 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 49 of file stdr_gui_robot.h.

std::vector<CGuiSonar*> stdr_gui::CGuiRobot::sonars_

private

Robot Rfid antenna sensors.

Definition at line 76 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 59 of file stdr_gui_robot.h.

bool stdr_gui::CGuiRobot::started_

private

Subscriber for the speeds twist message.

Definition at line 56 of file stdr_gui_robot.h.

std::vector<CGuiThermal*> stdr_gui::CGuiRobot::thermal_sensors_

private

Robot Rfid antenna sensors.

Definition at line 82 of file stdr_gui_robot.h.

QImage stdr_gui::CGuiRobot::visualization

private

Definition at line 97 of file stdr_gui_robot.h.

char stdr_gui::CGuiRobot::visualization_status_

private

Definition at line 107 of file stdr_gui_robot.h.

---

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

• stdr_gui_robot.h
• stdr_gui_robot.cpp