#include <VisualLanes.h>

Public Member Functions
void	addMapLane (double w1lat, double w1long, double w2lat, double w2long, double w3lat, double w3long, double laneWidth)
void	addMapLane (std::vector< double > ranges)
void	addPoly (double x1, double x2, double x3, double x4, double y1, double y2, double y3, double y4, bool is_stop)
void	addSickScan (std::vector< double > ranges)
void	addTrace (double w1lat, double w1long, double w2lat, double w2long)
void	clear ()
double	getPhysicalSize ()
std::vector< float > *	getPose ()
void	gpsEnabled (bool onOff)
void	initialize (double x, double y, double theta)
std::pair< double, double > *	isPathClear (double x, double y)
std::pair< double, double > *	laserScan (double x, double y)
std::pair< double, double >	nearestClearPath (std::pair< double, double > obstacle, std::pair< double, double > original)
void	savePGM (const char *filename)
void	setCellShift (int shift)
void	setLaserRange (float range)
void	setPosition (double x, double y, double theta)
void	setThreshold (int threshold)
cell	value (int x, int y)
	VisualLanes (double physical_size, int resolution)
	~VisualLanes ()
Private Member Functions
cell *	at (int x, int y)
cell *	atgoal (int x, int y)
std::pair< int, int > *	cellLighten (int x, int y)
std::pair< int, int > *	cellLightenDebug (int x, int y)
std::pair< int, int > *	cellOccupied (int x, int y)
std::pair< int, int > *	cellOccupiedDebug (int x, int y)
std::pair< int, int > *	cellOccupiedRelative (int x, int y)
void	clearBottom ()
void	clearLeft ()
void	clearRight ()
void	clearTop ()
std::pair< int, int > *	drawPointB (int x, int y)
std::pair< int, int > *	drawPointW (int x, int y)
void	lighten (int x, int y)
std::pair< int, int > *	line (int x0, int y0, int x1, int y1, std::pair< int, int > (VisualLanes::_fp)(int, int))
void	padObstacles ()
bool	valid (int x, int y)
Private Attributes
cell **	_m
double	_physical_size
int	_resolution
int	_shift
double	_theta
int	_threshold
double	_x
int	_x_offset
double	_y
int	_y_offset
int	count
bool	gpsOnOff
float	laser_range
double	rX
double	rY
bool	scan_off_bottom_side
bool	scan_off_left_side
bool	scan_off_right_side
bool	scan_off_top_side

Detailed Description

Definition at line 37 of file VisualLanes.h.

Constructor & Destructor Documentation

VisualLanes::VisualLanes	(	double	physical_size,
		int	resolution
	)

Definition at line 9 of file VisualLanes.cc.

VisualLanes::~VisualLanes ( )

Definition at line 33 of file VisualLanes.cc.

Member Function Documentation

void VisualLanes::addMapLane	(	double	w1lat,
		double	w1long,
		double	w2lat,
		double	w2long,
		double	w3lat,
		double	w3long,
		double	laneWidth
	)

Definition at line 796 of file VisualLanes.cc.

void VisualLanes::addMapLane ( std::vector< double > ranges )

Definition at line 872 of file VisualLanes.cc.

void VisualLanes::addPoly	(	double	x1,
		double	x2,
		double	x3,
		double	x4,
		double	y1,
		double	y2,
		double	y3,
		double	y4,
		bool	is_stop
	)

Definition at line 941 of file VisualLanes.cc.

void VisualLanes::addSickScan ( std::vector< double > ranges )

The function takes a 180 degree sick laser scan and updates the occupancy grid.

Definition at line 192 of file VisualLanes.cc.

void VisualLanes::addTrace	(	double	w1lat,
		double	w1long,
		double	w2lat,
		double	w2long
	)

Definition at line 971 of file VisualLanes.cc.

cell * VisualLanes::at	(	int	x,
		int	y
	)		`[private]`

Definition at line 765 of file VisualLanes.cc.

cell * VisualLanes::atgoal	(	int	x,
		int	y
	)		`[private]`

Definition at line 757 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::cellLighten	(	int	x,
		int	y
	)		`[private]`

This is one of many private functions that are intended to be feed into the generic line trace function, if you need to use it, the arguements are.. number of args, followed by x and y. don't really need number of args... but its there so I can get to the parameters I want.

Definition at line 309 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::cellLightenDebug	(	int	x,
		int	y
	)		`[private]`

Definition at line 364 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::cellOccupied	(	int	x,
		int	y
	)		`[private]`

If the cell is occupied then return the std::pair<int,int> containing the x and y that refer to the occupancy grid point.

Note, don't forget that the pair will be casted to void* before return!!

Definition at line 327 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::cellOccupiedDebug	(	int	x,
		int	y
	)		`[private]`

Definition at line 346 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::cellOccupiedRelative	(	int	x,
		int	y
	)		`[private]`

Definition at line 476 of file VisualLanes.cc.

void VisualLanes::clear ( )

The function clears the occupancy grid and resets all values in the grid back to the default occupancy.

Definition at line 41 of file VisualLanes.cc.

void VisualLanes::clearBottom ( ) [private]

Definition at line 67 of file VisualLanes.cc.

void VisualLanes::clearLeft ( ) [private]

Definition at line 89 of file VisualLanes.cc.

void VisualLanes::clearRight ( ) [private]

Definition at line 82 of file VisualLanes.cc.

void VisualLanes::clearTop ( ) [private]

Definition at line 75 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::drawPointB	(	int	x,
		int	y
	)		`[private]`

Definition at line 983 of file VisualLanes.cc.

std::pair< int, int > * VisualLanes::drawPointW	(	int	x,
		int	y
	)		`[private]`

Definition at line 994 of file VisualLanes.cc.

double VisualLanes::getPhysicalSize ( ) [inline]

Definition at line 128 of file VisualLanes.h.

std::vector< float > * VisualLanes::getPose ( )

Definition at line 181 of file VisualLanes.cc.

void VisualLanes::gpsEnabled ( bool onOff ) [inline]

Definition at line 44 of file VisualLanes.h.

void VisualLanes::initialize	(	double	x,
		double	y,
		double	theta
	)

Standard initialization function that sets up the robots initial position.

Recommended use, is at start up.

Definition at line 50 of file VisualLanes.cc.

std::pair< double, double > * VisualLanes::isPathClear	(	double	x,
		double	y
	)

If path is clear, then the function returns an empty cell else the function returns the first cell in which it hits an obstacle

Note, this function's input is a point relative to the odometry of the car, I need to write a function for converting GPS to local odometry.

Before using this function, you must use setThreshold(int threshold) to set the specified threshold for a cell to be occupied.

Definition at line 524 of file VisualLanes.cc.

std::pair< double, double > * VisualLanes::laserScan	(	double	x,
		double	y
	)

Definition at line 494 of file VisualLanes.cc.

void VisualLanes::lighten	(	int	x,
		int	y
	)		`[private]`

std::pair< int, int > * VisualLanes::line	(	int	x0,
		int	y0,
		int	x1,
		int	y1,
		std::pair< int, int > (VisualLanes::)(int, int)	_fp
	)		`[private]`

Takes in a function pointer to a function that opperates on x and y cell. The x and y are cells that must be reached by by a line trace.

Definition at line 380 of file VisualLanes.cc.

std::pair< double, double > VisualLanes::nearestClearPath	(	std::pair< double, double >	obstacle,
		std::pair< double, double >	original
	)

Beware the function is still experimental and definitely needs some work!!

The function should return a intermediate point to a goal point, note before using this function, you must set the cell shift size, by using setCellShift(int shift) first.

Definition at line 639 of file VisualLanes.cc.

void VisualLanes::padObstacles ( ) [private]

Definition at line 471 of file VisualLanes.cc.

void VisualLanes::savePGM ( const char * filename )

This function saves the current occupancy grid to a specified .pgm file.

Definition at line 444 of file VisualLanes.cc.

void VisualLanes::setCellShift ( int shift )

Definition at line 630 of file VisualLanes.cc.

void VisualLanes::setLaserRange ( float range ) [inline]

Definition at line 126 of file VisualLanes.h.

void VisualLanes::setPosition	(	double	x,
		double	y,
		double	theta
	)

This function updates the robot's position in the occupancy grid, I do not know how this will behave if given a GPS coordinate.

The function is generally used with respect to the imu, but it is very possible to use it with the GPS player position info as well.

Definition at line 96 of file VisualLanes.cc.

void VisualLanes::setThreshold ( int threshold )

Definition at line 299 of file VisualLanes.cc.

bool VisualLanes::valid	(	int	x,
		int	y
	)		`[private]`

Definition at line 437 of file VisualLanes.cc.

cell VisualLanes::value	(	int	x,
		int	y
	)

Since the robot behaves in local coordinates, if you pass in an x and y with respect to the robot, it should return the value of that cell. (Note only with respect to the robot)

If you need to check a cell for occupancy, its better to use is path clear, Since it will check all sells in between and return the point it believes to have a collision based on the set threshold.

Definition at line 430 of file VisualLanes.cc.