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observers::Observer Class Reference

Observers base class. More...

#include <observer.h>

Inheritance diagram for observers::Observer:
Inheritance graph
[legend]

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_

Detailed Description

Observers base class.

Definition at line 30 of file observer.h.


Member Typedef Documentation

Shorter typedef for observer ID

Definition at line 35 of file observer.h.


Constructor & Destructor Documentation

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

Constructor.

Parameters:
configconfiguration structure
idobserver ID
nameobserver name

Definition at line 43 of file observer.h.

Definition at line 20 of file observer.cc.


Member Function Documentation

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_quadquadrilateral containing the robot
local_maproad map lanes within range of the robot
obstacleslocal map quads currently containing obstacles
posecurrent pose of robot
Todo:
Make pure virtual once deprecated version is deleted.

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


Member Data Documentation

Definition at line 85 of file observer.h.

Definition at line 84 of file observer.h.


The documentation for this class was generated from the following files:
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art_observers
Author(s): Michael Quinlan, Jack O'Quin, Corbyn Salisbury
autogenerated on Tue Sep 24 2013 10:43:43