Fawkes API  Fawkes Development Version
fawkes::LaserLineInterface Class Reference

LaserLineInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::LaserLineInterface:

Public Member Functions

virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
char * frame_id () const
 Get frame_id value. More...
 
void set_frame_id (const char *new_frame_id)
 Set frame_id value. More...
 
size_t maxlenof_frame_id () const
 Get maximum length of frame_id value. More...
 
int32_t visibility_history () const
 Get visibility_history value. More...
 
void set_visibility_history (const int32_t new_visibility_history)
 Set visibility_history value. More...
 
size_t maxlenof_visibility_history () const
 Get maximum length of visibility_history value. More...
 
float * point_on_line () const
 Get point_on_line value. More...
 
float point_on_line (unsigned int index) const
 Get point_on_line value at given index. More...
 
void set_point_on_line (unsigned int index, const float new_point_on_line)
 Set point_on_line value at given index. More...
 
void set_point_on_line (const float *new_point_on_line)
 Set point_on_line value. More...
 
size_t maxlenof_point_on_line () const
 Get maximum length of point_on_line value. More...
 
float * line_direction () const
 Get line_direction value. More...
 
float line_direction (unsigned int index) const
 Get line_direction value at given index. More...
 
void set_line_direction (unsigned int index, const float new_line_direction)
 Set line_direction value at given index. More...
 
void set_line_direction (const float *new_line_direction)
 Set line_direction value. More...
 
size_t maxlenof_line_direction () const
 Get maximum length of line_direction value. More...
 
float bearing () const
 Get bearing value. More...
 
void set_bearing (const float new_bearing)
 Set bearing value. More...
 
size_t maxlenof_bearing () const
 Get maximum length of bearing value. More...
 
float * end_point_1 () const
 Get end_point_1 value. More...
 
float end_point_1 (unsigned int index) const
 Get end_point_1 value at given index. More...
 
void set_end_point_1 (unsigned int index, const float new_end_point_1)
 Set end_point_1 value at given index. More...
 
void set_end_point_1 (const float *new_end_point_1)
 Set end_point_1 value. More...
 
size_t maxlenof_end_point_1 () const
 Get maximum length of end_point_1 value. More...
 
float * end_point_2 () const
 Get end_point_2 value. More...
 
float end_point_2 (unsigned int index) const
 Get end_point_2 value at given index. More...
 
void set_end_point_2 (unsigned int index, const float new_end_point_2)
 Set end_point_2 value at given index. More...
 
void set_end_point_2 (const float *new_end_point_2)
 Set end_point_2 value. More...
 
size_t maxlenof_end_point_2 () const
 Get maximum length of end_point_2 value. More...
 
float length () const
 Get length value. More...
 
void set_length (const float new_length)
 Set length value. More...
 
size_t maxlenof_length () const
 Get maximum length of length value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
const char * owner () const
 Get owner of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
Time buffer_timestamp (unsigned int buffer)
 Get time of a buffer. More...
 
void buffer_timestamp (unsigned int buffer, Time *timestamp)
 Get time of a buffer. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
std::string writer () const
 Get owner name of writing interface instance. More...
 
std::list< std::string > readers () const
 Get owner names of reading interface instances. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
void mark_data_changed ()
 Mark data as changed. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
void msgq_append (Message *message)
 Enqueue message. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

LaserLineInterface Fawkes BlackBoard Interface.

Line parameterization.

Definition at line 33 of file LaserLineInterface.h.

Member Function Documentation

◆ bearing()

float fawkes::LaserLineInterface::bearing ( ) const

Get bearing value.

Direction towards the line, i.e. if the robot turns by this angle the robot will stand parallel to the line.

Returns
bearing value

Definition at line 291 of file LaserLineInterface.cpp.

◆ copy_values()

void fawkes::LaserLineInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 508 of file LaserLineInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::LaserLineInterface::create_message ( const char *  type) const
virtual

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 497 of file LaserLineInterface.cpp.

◆ end_point_1() [1/2]

float * fawkes::LaserLineInterface::end_point_1 ( ) const

Get end_point_1 value.

3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.

Returns
end_point_1 value

Definition at line 328 of file LaserLineInterface.cpp.

◆ end_point_1() [2/2]

float fawkes::LaserLineInterface::end_point_1 ( unsigned int  index) const

Get end_point_1 value at given index.

3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.

Parameters
indexindex of value
Returns
end_point_1 value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 343 of file LaserLineInterface.cpp.

◆ end_point_2() [1/2]

float * fawkes::LaserLineInterface::end_point_2 ( ) const

Get end_point_2 value.

3D coordinates in the reference frame of the second endpoint of the line.

Returns
end_point_2 value

Definition at line 400 of file LaserLineInterface.cpp.

◆ end_point_2() [2/2]

float fawkes::LaserLineInterface::end_point_2 ( unsigned int  index) const

Get end_point_2 value at given index.

3D coordinates in the reference frame of the second endpoint of the line.

Parameters
indexindex of value
Returns
end_point_2 value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 415 of file LaserLineInterface.cpp.

◆ enum_tostring()

const char * fawkes::LaserLineInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
virtual

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 519 of file LaserLineInterface.cpp.

◆ frame_id()

char * fawkes::LaserLineInterface::frame_id ( ) const

Get frame_id value.

Coordinate frame ID of data.

Returns
frame_id value

Definition at line 76 of file LaserLineInterface.cpp.

◆ length()

float fawkes::LaserLineInterface::length ( ) const

Get length value.

Length of the line.

Returns
length value

Definition at line 469 of file LaserLineInterface.cpp.

◆ line_direction() [1/2]

float * fawkes::LaserLineInterface::line_direction ( ) const

Get line_direction value.

Vector in the direction of the line.

Returns
line_direction value

Definition at line 222 of file LaserLineInterface.cpp.

◆ line_direction() [2/2]

float fawkes::LaserLineInterface::line_direction ( unsigned int  index) const

Get line_direction value at given index.

Vector in the direction of the line.

Parameters
indexindex of value
Returns
line_direction value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 236 of file LaserLineInterface.cpp.

◆ maxlenof_bearing()

size_t fawkes::LaserLineInterface::maxlenof_bearing ( ) const

Get maximum length of bearing value.

Returns
length of bearing value, can be length of the array or number of maximum number of characters for a string

Definition at line 301 of file LaserLineInterface.cpp.

◆ maxlenof_end_point_1()

size_t fawkes::LaserLineInterface::maxlenof_end_point_1 ( ) const

Get maximum length of end_point_1 value.

Returns
length of end_point_1 value, can be length of the array or number of maximum number of characters for a string

Definition at line 356 of file LaserLineInterface.cpp.

◆ maxlenof_end_point_2()

size_t fawkes::LaserLineInterface::maxlenof_end_point_2 ( ) const

Get maximum length of end_point_2 value.

Returns
length of end_point_2 value, can be length of the array or number of maximum number of characters for a string

Definition at line 428 of file LaserLineInterface.cpp.

◆ maxlenof_frame_id()

size_t fawkes::LaserLineInterface::maxlenof_frame_id ( ) const

Get maximum length of frame_id value.

Returns
length of frame_id value, can be length of the array or number of maximum number of characters for a string

Definition at line 86 of file LaserLineInterface.cpp.

◆ maxlenof_length()

size_t fawkes::LaserLineInterface::maxlenof_length ( ) const

Get maximum length of length value.

Returns
length of length value, can be length of the array or number of maximum number of characters for a string

Definition at line 479 of file LaserLineInterface.cpp.

◆ maxlenof_line_direction()

size_t fawkes::LaserLineInterface::maxlenof_line_direction ( ) const

Get maximum length of line_direction value.

Returns
length of line_direction value, can be length of the array or number of maximum number of characters for a string

Definition at line 249 of file LaserLineInterface.cpp.

◆ maxlenof_point_on_line()

size_t fawkes::LaserLineInterface::maxlenof_point_on_line ( ) const

Get maximum length of point_on_line value.

Returns
length of point_on_line value, can be length of the array or number of maximum number of characters for a string

Definition at line 181 of file LaserLineInterface.cpp.

◆ maxlenof_visibility_history()

size_t fawkes::LaserLineInterface::maxlenof_visibility_history ( ) const

Get maximum length of visibility_history value.

Returns
length of visibility_history value, can be length of the array or number of maximum number of characters for a string

Definition at line 125 of file LaserLineInterface.cpp.

◆ message_valid()

bool fawkes::LaserLineInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 530 of file LaserLineInterface.cpp.

◆ point_on_line() [1/2]

float * fawkes::LaserLineInterface::point_on_line ( ) const

Get point_on_line value.

Vector to some point on the line

Returns
point_on_line value

Definition at line 154 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ point_on_line() [2/2]

float fawkes::LaserLineInterface::point_on_line ( unsigned int  index) const

Get point_on_line value at given index.

Vector to some point on the line

Parameters
indexindex of value
Returns
point_on_line value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 168 of file LaserLineInterface.cpp.

◆ set_bearing()

void fawkes::LaserLineInterface::set_bearing ( const float  new_bearing)

Set bearing value.

Direction towards the line, i.e. if the robot turns by this angle the robot will stand parallel to the line.

Parameters
new_bearingnew bearing value

Definition at line 314 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_end_point_1() [1/2]

void fawkes::LaserLineInterface::set_end_point_1 ( unsigned int  index,
const float  new_end_point_1 
)

Set end_point_1 value at given index.

3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.

Parameters
new_end_point_1new end_point_1 value
indexindex for of the value

Definition at line 384 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_end_point_1() [2/2]

void fawkes::LaserLineInterface::set_end_point_1 ( const float *  new_end_point_1)

Set end_point_1 value.

3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.

Parameters
new_end_point_1new end_point_1 value

Definition at line 369 of file LaserLineInterface.cpp.

◆ set_end_point_2() [1/2]

void fawkes::LaserLineInterface::set_end_point_2 ( unsigned int  index,
const float  new_end_point_2 
)

Set end_point_2 value at given index.

3D coordinates in the reference frame of the second endpoint of the line.

Parameters
new_end_point_2new end_point_2 value
indexindex for of the value

Definition at line 456 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_end_point_2() [2/2]

void fawkes::LaserLineInterface::set_end_point_2 ( const float *  new_end_point_2)

Set end_point_2 value.

3D coordinates in the reference frame of the second endpoint of the line.

Parameters
new_end_point_2new end_point_2 value

Definition at line 441 of file LaserLineInterface.cpp.

◆ set_frame_id()

void fawkes::LaserLineInterface::set_frame_id ( const char *  new_frame_id)

Set frame_id value.

Coordinate frame ID of data.

Parameters
new_frame_idnew frame_id value

Definition at line 98 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_length()

void fawkes::LaserLineInterface::set_length ( const float  new_length)

Set length value.

Length of the line.

Parameters
new_lengthnew length value

Definition at line 489 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_line_direction() [1/2]

void fawkes::LaserLineInterface::set_line_direction ( unsigned int  index,
const float  new_line_direction 
)

Set line_direction value at given index.

Vector in the direction of the line.

Parameters
new_line_directionnew line_direction value
indexindex for of the value

Definition at line 275 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_line_direction() [2/2]

void fawkes::LaserLineInterface::set_line_direction ( const float *  new_line_direction)

Set line_direction value.

Vector in the direction of the line.

Parameters
new_line_directionnew line_direction value

Definition at line 261 of file LaserLineInterface.cpp.

◆ set_point_on_line() [1/2]

void fawkes::LaserLineInterface::set_point_on_line ( unsigned int  index,
const float  new_point_on_line 
)

Set point_on_line value at given index.

Vector to some point on the line

Parameters
new_point_on_linenew point_on_line value
indexindex for of the value

Definition at line 207 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ set_point_on_line() [2/2]

void fawkes::LaserLineInterface::set_point_on_line ( const float *  new_point_on_line)

Set point_on_line value.

Vector to some point on the line

Parameters
new_point_on_linenew point_on_line value

Definition at line 193 of file LaserLineInterface.cpp.

◆ set_visibility_history()

void fawkes::LaserLineInterface::set_visibility_history ( const int32_t  new_visibility_history)

Set visibility_history value.

The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.

Parameters
new_visibility_historynew visibility_history value

Definition at line 141 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().

◆ visibility_history()

int32_t fawkes::LaserLineInterface::visibility_history ( ) const

Get visibility_history value.

The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.

Returns
visibility_history value

Definition at line 115 of file LaserLineInterface.cpp.

Referenced by LaserLinesThread::loop().


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