observers::Observer Class Reference

Observers base class. More...

#include <observer.h>

Inheritance diagram for observers::Observer:

List of all members.

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_

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Detailed Description

Observers base class.

Definition at line 30 of file observer.h.

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Member Typedef Documentation

typedef art_msgs::Observation::_oid_type observers::Observer::Oid_t

Shorter typedef for observer ID

Definition at line 35 of file observer.h.

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Constructor & Destructor Documentation

observers::Observer::Observer	(	art_observers::ObserversConfig &	config,
		Oid_t	id,
		const std::string &	name
	)		[inline]

Constructor.

Parameters:

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.

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Member Function Documentation

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

Todo:

move these out of this pure virtual base class.

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.

Parameters:

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

Todo:

Make pure virtual once deprecated version is deleted.

Implemented in observers::AdjacentLeft, observers::AdjacentRight, observers::NearestBackward, and observers::NearestForward.

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Member Data Documentation

art_observers::ObserversConfig observers::Observer::config_ [protected]

Definition at line 85 of file observer.h.

art_msgs::Observation observers::Observer::observation_ [protected]

Definition at line 84 of file observer.h.

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

• observer.h
• observer.cc