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Observers base class. More...
#include <observer.h>
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_ |
Observers base class.
Definition at line 30 of file observer.h.
Shorter typedef for observer ID
Definition at line 35 of file observer.h.
observers::Observer::Observer | ( | art_observers::ObserversConfig & | config, | |
Oid_t | id, | |||
const std::string & | name | |||
) | [inline] |
Constructor.
config | configuration structure | |
id | observer ID | |
name | observer name |
Definition at line 43 of file observer.h.
observers::Observer::~Observer | ( | ) |
Definition at line 20 of file observer.cc.
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
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.
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 |
Implemented in observers::AdjacentLeft, observers::AdjacentRight, observers::NearestBackward, and observers::NearestForward.
Definition at line 85 of file observer.h.
Definition at line 84 of file observer.h.