Public Member Functions | Public Attributes
TfCore Class Reference

#include <TfCore.h>

List of all members.

Public Member Functions

void add_robot_wayPoints ()
void add_separatrix_points_toRobot (Trajectory *target_traj)
void add_verts_to_vertTimeList ()
void cal_all_eigenvecs_quad ()
void cal_eigen_vector_sym (icMatrix2x2 m, icVector2 ev[2])
void cal_eigenvecs_onevert_quad (int ver)
void cal_inverse_transform ()
void cal_sep_infoGain ()
void cal_separatrix_vec ()
void cal_tensorvals_quad ()
void cal_TF_at_inbetween_slice_keyframe_interp (double ratio, int start, int end)
void cal_TF_at_slice_keyframe_interp (int which_slice)
void cancelPath ()
bool check_bypass_trisector ()
bool check_line_insect_obstacle ()
bool check_reach_trisector ()
bool check_reach_wedge ()
void compute_a_alongx_degptlocate (double &a, icVector2 v0, icVector2 v1, icVector2 v2, icVector2 v3, icVector2 &v0v1, icVector2 &v2v3)
void compute_degpts_pos_tranvec_quad ()
void compute_onedegpt_pos_tranvec_quad (int cellid, double &x, double &y)
void compute_separatrixVec_degpt_quad (int degpt_index)
void con_linear_Sys_spatioTemp (Vec_DP &tsa, Vec_INT &tija, Mat_DP &bound_v)
void copy_from_keyframe (int keyframelistPos)
void count_nonconstrained_verts ()
void create_paraThread ()
void cut_robot_path ()
void display_bresenham_line ()
void display_degenerate_pts (GLenum mode)
void display_design_grid ()
void display_major_tenlines (GLenum mode)
void display_separatrices (GLenum mode)
void display_tenRegElem (GLenum mode)
void display_trisectorVec (GLenum mode)
void display_valid_degenerate_pts (GLenum mode)
void display_valid_trisectors (GLenum mode)
void draw_hollow_circle_size (double cx, double cy, double R)
void draw_map_contour ()
int DrawGLScene (GLenum mode)
void drawSolidCircle_size (double cx, double cy, double R)
void drawSolidRect_size (double cx, double cy, double R)
void ensure_robot_safety ()
void filterDegpts ()
std::set< int > find_connect_degpts (int target_tri_index)
void frontier_point_callback (const std_msgs::Float64MultiArray &msg)
void gen_major_path ()
void gen_separatrix ()
void get_laplace_TVTF (int which_slice)
void get_obstacles_contour ()
unsigned char get_region_id (double x, double y)
void get_tensor (double x, double y, double t[4])
void goTri_callback (const std_msgs::String &msg)
void gridMap_callback (const nav_msgs::OccupancyGrid &msg)
void init_degpts ()
void init_keyframeList (int size=2)
void init_majorPath ()
void init_regular_ten_designelems ()
void init_separatrices ()
void init_ten_designelems ()
void init_vertTimeList ()
int InitGL ()
bool insertLinks (int i, int j)
void Laplace_relax_timeDep ()
void listen_to_robot_loc ()
void locat_point_inMap (double pos[2], cv::Point2i &mapLoc)
void locate_degpts_cells_tranvec_quad (void)
void major_vis_quad ()
void make_tens_Patterns (void)
void makePatterns (void)
void normalized_tensorfield_quad ()
void parallel_cal_tensorvals_quad (int &x1, int &x2)
void parallel_update_tensorField ()
void play_all_frames ()
void publish_image ()
void render_alpha_map_quad ()
void render_ibfv_tens_quad (bool x_y)
void render_majorfield_quad ()
void render_tensor_blend ()
void render_tensor_final ()
void reset_major_path ()
void reset_regular_and_degenrateElem ()
void reset_separatrices ()
std::map< pair< int,int >, float > search_degpts_mst (std::set< int > connect_degpts, int target_tri_index)
Trajectoryselect_a_branch (std::map< pair< int, int >, float > cur_mst, int target_tri_index)
void select_target_trisector_branch_move ()
void set_constraints_keyframes ()
void set_cur_as_keyframe (int frameID)
void set_obstacles ()
void set_robot_loc (double x, double y)
void set_ten_regBasis (double x, double y, int type)
void set_ten_regDir (double x, double y)
void set_ten_regDir (double x, double y, icVector2 &vec)
void setRegularElems ()
void split_tensorField (int i, int threadNum, int &x1, int &x2)
void tensor_init_tex ()
 TfCore (ros::NodeHandle private_nh_=ros::NodeHandle("~"))
void TfCoreInit ()
void transform_fun ()
void update_cur_TF_keyframe ()
void update_tensor_field ()
int without_anti_aliasing (GLenum mode)
 ~TfCore ()

Public Attributes

int alpha
std::string baseFrameId
std::vector< Locationbresenham_line_points
std::vector< std::vector
< icVector2 > > 
constraints_vecs
std::vector< std::vector
< cv::Point > > 
contours
std::vector< std::vector
< cv::Point2f > > 
contours2Field
std::vector< std::vector
< cv::Point2f > > 
contoursInWorld
int curMaxNumTenDesignElems
int curMaxNumTenRegElems
int curSliceID
int * degenerate_tris
DegeneratePtdegpts
std::set< pair< int, int > > degptsLinks
std::vector< vector< int > > degptsPathsInfoGain
nav_msgs::OccupancyGrid dirMap
std::vector< std::vector
< cv::Point2f > > 
dirMap2Field
std::vector< std::vector
< cv::Point2f > > 
dirMapInWorld
float dmax
bool enRelaxKeyframeOn
ros::Subscriber finishGoTri
ros::Subscriber first_point_sub
std_msgs::Float64MultiArray frontierPoints
ros::Subscriber frontierPoints_sub
ros::ServiceClient goTriExecuteclient
ros::Subscriber gridmap_sub
std::string gridMapTopicName
bool ifCancelPath
bool ifFinish_goTri
int iframe
bool ifReachTrisector
Vec_INTija_p
int interFrameNum
float interFrameTime
int InterpScheme
float inverse_tran [16]
bool isReceiveNewMap
KeyFrameListkeyframes
float leftBottom [2]
tf::TransformListener listener
icVector2 m_globalDirect
image_transport::ImageTransport m_it
std::vector< ParaThread * > m_myThreads
icVector2 m_robotDirect
GLubyte major_alpha_map [NPIX][NPIX][3]
int major_iframe
EvenStreamlinePlacemajor_path
GLubyte major_temp [NPIX][NPIX][4]
GLubyte major_tex [NPIX][NPIX][3]
GLubyte major_tex1 [NPIX][NPIX][3]
GLubyte major_tex2 [NPIX][NPIX][3]
int MaxNumDegeneratePts
GLubyte minor_alpha_map [NPIX][NPIX][3]
GLubyte minor_temp [NPIX][NPIX][4]
GLubyte minor_tex [NPIX][NPIX][3]
GLubyte minor_tex1 [NPIX][NPIX][3]
GLubyte minor_tex2 [NPIX][NPIX][3]
int ndegenerate_tris
int ndegpts
ros::NodeHandle nh_
int Npat
int nten_regelems
int ntenelems
int NUM_Slices
icVector2 outside_push
ros::ServiceClient pathCancelClient
ros::ServiceClient pathCutClient
ros::ServiceClient pathExecuteClient
QuadMeshquadmesh
double realWorld_to_field_offset_x
double realWorld_to_field_offset_y
double realWorld_to_field_scale
bool recoverMode
bool reGenPath
ros::ServiceClient reqCalDegptPathsInfoClient
unsigned char * rgb_im
image_transport::Publisher rgb_pub
std::string rgbTopicName
float rightTop [2]
Seedrobot_loc
float robot_world_pos [2]
float robotInitialPos_x
float robotInitialPos_y
Vec_DPsa_p
float safeDistance
ros::Publisher safetyWayPointNum_pub
int selected_target_tri
EvenStreamlinePlaceseparatrices
bool showGridOn
bool showIBFVOn
bool showMajorTenLine
bool showRegularElemOn
bool showSingularitiesOn
ros::Subscriber target_sub
int targetTrisectorIndex
Degenerate_Designten_designelems
double ten_dmax
TenRegularElemten_regularelems
double ten_tmax
GLuint tentextnames [16]
float tmax
double trans_x
double trans_y
std::vector< DegeneratePtvalidDegpts
std::vector< DegeneratePtvalidTriDegpts
icVector2vecsTime
VertTimeListvertTimeList
std::string worldFrameId
double zoom_factor

Detailed Description

Definition at line 39 of file TfCore.h.


Constructor & Destructor Documentation

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Member Function Documentation

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void TfCore::cal_TF_at_inbetween_slice_keyframe_interp ( double  ratio,
int  start,
int  end 
)

Definition at line 2757 of file TfCore.cpp.

void TfCore::cal_TF_at_slice_keyframe_interp ( int  which_slice)

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void TfCore::compute_a_alongx_degptlocate ( double &  a,
icVector2  v0,
icVector2  v1,
icVector2  v2,
icVector2  v3,
icVector2 v0v1,
icVector2 v2v3 
)

Definition at line 1305 of file TfCore.cpp.

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void TfCore::compute_onedegpt_pos_tranvec_quad ( int  cellid,
double &  x,
double &  y 
)

Definition at line 1266 of file TfCore.cpp.

void TfCore::compute_separatrixVec_degpt_quad ( int  degpt_index)

Definition at line 1389 of file TfCore.cpp.

void TfCore::con_linear_Sys_spatioTemp ( Vec_DP tsa,
Vec_INT tija,
Mat_DP bound_v 
)

Definition at line 3034 of file TfCore.cpp.

void TfCore::copy_from_keyframe ( int  keyframelistPos)

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void TfCore::display_degenerate_pts ( GLenum  mode)

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void TfCore::display_major_tenlines ( GLenum  mode)

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void TfCore::display_separatrices ( GLenum  mode)

Definition at line 1679 of file TfCore.cpp.

void TfCore::display_tenRegElem ( GLenum  mode)

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void TfCore::display_trisectorVec ( GLenum  mode)

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void TfCore::display_valid_degenerate_pts ( GLenum  mode)

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void TfCore::display_valid_trisectors ( GLenum  mode)

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void TfCore::draw_hollow_circle_size ( double  cx,
double  cy,
double  R 
)

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int TfCore::DrawGLScene ( GLenum  mode)

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void TfCore::drawSolidCircle_size ( double  cx,
double  cy,
double  R 
)

Definition at line 570 of file TfCore.cpp.

void TfCore::drawSolidRect_size ( double  cx,
double  cy,
double  R 
)

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std::set< int > TfCore::find_connect_degpts ( int  target_tri_index)

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void TfCore::frontier_point_callback ( const std_msgs::Float64MultiArray &  msg)

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void TfCore::get_laplace_TVTF ( int  which_slice)

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unsigned char TfCore::get_region_id ( double  x,
double  y 
)

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void TfCore::get_tensor ( double  x,
double  y,
double  t[4] 
)

Combine all the degenerate elements

Definition at line 828 of file TfCore.cpp.

void TfCore::goTri_callback ( const std_msgs::String &  msg)

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void TfCore::gridMap_callback ( const nav_msgs::OccupancyGrid &  msg)

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void TfCore::init_keyframeList ( int  size = 2)

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int TfCore::InitGL ( )

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bool TfCore::insertLinks ( int  i,
int  j 
)

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void TfCore::locat_point_inMap ( double  pos[2],
cv::Point2i &  mapLoc 
)

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void TfCore::make_tens_Patterns ( void  )

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void TfCore::makePatterns ( void  )

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void TfCore::parallel_cal_tensorvals_quad ( int &  x1,
int &  x2 
)

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void TfCore::render_ibfv_tens_quad ( bool  x_y)

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std::map< pair< int,int >, float > TfCore::search_degpts_mst ( std::set< int >  connect_degpts,
int  target_tri_index 
)

Definition at line 3284 of file TfCore.cpp.

Trajectory * TfCore::select_a_branch ( std::map< pair< int, int >, float >  cur_mst,
int  target_tri_index 
)

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void TfCore::set_cur_as_keyframe ( int  frameID)

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void TfCore::set_robot_loc ( double  x,
double  y 
)

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void TfCore::set_ten_regBasis ( double  x,
double  y,
int  type 
)

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void TfCore::set_ten_regDir ( double  x,
double  y 
)

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void TfCore::set_ten_regDir ( double  x,
double  y,
icVector2 vec 
)

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void TfCore::split_tensorField ( int  i,
int  threadNum,
int &  x1,
int &  x2 
)

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int TfCore::without_anti_aliasing ( GLenum  mode)

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Member Data Documentation

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std::string TfCore::baseFrameId

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std::vector<std::vector<icVector2> > TfCore::constraints_vecs

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std::vector<std::vector<cv::Point> > TfCore::contours

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std::vector<std::vector<cv::Point2f> > TfCore::contours2Field

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std::vector<std::vector<cv::Point2f> > TfCore::contoursInWorld

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std::set<pair<int,int> > TfCore::degptsLinks

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std::vector<vector<int> > TfCore::degptsPathsInfoGain

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nav_msgs::OccupancyGrid TfCore::dirMap

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std::vector<std::vector<cv::Point2f> > TfCore::dirMap2Field

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std::vector<std::vector<cv::Point2f> > TfCore::dirMapInWorld

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float TfCore::dmax

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GLubyte TfCore::major_tex[NPIX][NPIX][3]

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GLubyte TfCore::minor_tex[NPIX][NPIX][3]

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unsigned char* TfCore::rgb_im

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std::string TfCore::rgbTopicName

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float TfCore::rightTop[2]

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float TfCore::tmax

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std::string TfCore::worldFrameId

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


tensor_field_nav_core
Author(s): Lintao Zheng, Kai Xu
autogenerated on Thu Jun 6 2019 19:50:57