ObstaclesModel Class Reference

A class describing the distance to obstacles around the robot,. More...

#include <ObstaclesModel.h>

List of all members.

Public Types

enum Directions {
  back, backRight, right,
  frontRight, front, frontLeft,
  left, backLeft, numberOfDirections
}

enum SearchDirections { searchLeft, searchLeftAndRight, searchRight }

enum { numOfSectors = 90, maxDistance = 1500 }

enum { ownGoal = 0, opponentGoal = 1 }

Public Member Functions

ObstaclesModel ()

~ObstaclesModel ()

void operator= (const ObstaclesModel &other)

copies another ObstaclesModel to this one

void setFrameNumber (unsigned long frameNumber)

double getDistanceInCorridor (double angle, double width) const

returns the distance to the closest obstacle in the corridor specified by angle and width

double getAngleOfNextFreeSector (double sizeOfSector, double angle, int minDistance) const

returns the angle of the closest free sector with angle sizeOfSector relative to angle.

double getAngleOfNextFreeSectorLeft (double sizeOfSector, double angle, int minDistance) const

returns the angle of the closest free with angle sizeOfSector relative to angle.

double getAngleOfNextFreeSectorRight (double sizeOfSector, double angle, int minDistance) const

int getDistanceInMajorDirection (Directions direction) const

returns the distance to the closest obstacle in one of the major directions defined above

int getDistanceInDirection (double direction, double openingAngle) const

return the distance to the closest obstacle in a given direction and a given opening angle

int getSectorDistanceInDirection (double direction) const

return the distance of an sector to the closest obstacle in a given direction

double getTotalFreeSpaceInSector (double direction, double openingAngle, double maxDist) const

sums up all distances in a sector specified by direction and opening angle; the maxDist(ance) specifies what the maximum distance should be when adding up (you don't want really big single values to distort the sum)

int getMinimalDistanceInRange (double centerAngle, double openingAngle, double &angleWithMinimalDistance) const

Calculates the angle with the closest distance to an obstacle.

int getMinimalDistanceInRange (double centerAngle, double openingAngle, double &angleWithMinimalDistance, ObstaclesPercept::ObstacleType obstacleType) const

Calculates the angle with the closest distance to an obstacle of a certain obstacle type.

double getPercentageOfLowDistanceObstaclesInRange (double centerAngle, double openingAngle, int maxDistance) const

Calculates the percentage of sectors with obstacles that are closer than the specified distance in the specified range.

double getAngleOfLargeGapInRange (double centerAngle, double openingAngle, SearchDirections searchDirection) const

Calculates the angle with the farsest distance to an obstacle.

double getAngleOfLargeGapInRange2 (double centerAngle, double openingAngle, SearchDirections searchDirection) const

Calculates the angle with the farsest distance to an obstacle.

Static Public Member Functions

double getAngleOfSector (int sector)

return the center angle of a given sector

int getSectorFromAngle (double angle)

return the corresponding sector to a given angle

Public Attributes

unsigned long frameNumber

the frame number when perceived

int distance [numOfSectors]

the distance to the closest obstacle in an angular sector

ObstaclesPercept::ObstacleType obstacleType [numOfSectors]

int corridorInFront

the distance to the closest obstacle in a rectangular corridor in front of the robot

int currentlySeenStartSector

currently seen begining sector and end sector

int currentlySeenEndSector

double angleToFreePartOfGoal [2]

double widthOfFreePartOfGoal [2]

double distanceToFreePartOfGoal [2]

unsigned long lastTimeFreePartOfGoalWasDetermined [2]

bool angleToFreePartOfGoalWasDetermined [2]

bool angleToNextFreeTeammateWasDetermined

double angleToNextFreeTeammate

double distanceToNextFreeTeammate

double angleToSeenGoal [2]

angle to seen goal, updated by vision and odometry

double distanceToSeenGoal [2]

distance to seen goal, updated by vision and odometry

bool trustSeenGoal [2]

something is definitely wrong with the seen goal (occurs only when not seeing the goal)

unsigned long timeOfSeenGoal [2]

time since last seen goal

double bodyPSD

last value of the body psd sensor (if present)

Detailed Description

A class describing the distance to obstacles around the robot,.

Definition at line 21 of file ObstaclesModel.h.

Member Enumeration Documentation

enum ObstaclesModel::Directions

Enumeration values:

back

backRight

right

frontRight

front

frontLeft

left

backLeft

numberOfDirections

Definition at line 30 of file ObstaclesModel.h.

enum ObstaclesModel::SearchDirections

Enumeration values:

searchLeft

searchLeftAndRight

searchRight

Definition at line 31 of file ObstaclesModel.h.

anonymous enum

Enumeration values:

numOfSectors

maxDistance

Definition at line 32 of file ObstaclesModel.h.

anonymous enum

Enumeration values:

ownGoal

opponentGoal

Definition at line 139 of file ObstaclesModel.h.

Constructor & Destructor Documentation

ObstaclesModel::ObstaclesModel ( )

Definition at line 16 of file ObstaclesModel.cpp.
References angleToFreePartOfGoalWasDetermined, angleToNextFreeTeammateWasDetermined, bodyPSD, corridorInFront, currentlySeenEndSector, currentlySeenStartSector, distance, lastTimeFreePartOfGoalWasDetermined, maxDistance, numOfSectors, and trustSeenGoal.

ObstaclesModel::~ObstaclesModel ( )

Definition at line 36 of file ObstaclesModel.cpp.

Member Function Documentation

void ObstaclesModel::operator= ( const ObstaclesModel & other )

copies another ObstaclesModel to this one

Definition at line 514 of file ObstaclesModel.cpp.
References corridorInFront, distance, numOfSectors, and obstacleType.

double ObstaclesModel::getAngleOfSector ( int sector ) [inline, static]

return the center angle of a given sector

Definition at line 37 of file ObstaclesModel.h.
References numOfSectors, pi, and pi2.
Referenced by getAngleOfLargeGapInRange(), getAngleOfLargeGapInRange2(), getAngleOfNextFreeSector(), getAngleOfNextFreeSectorLeft(), getAngleOfNextFreeSectorRight(), getDistanceInCorridor(), GTCamObstaclesLocator::modelLine(), and GTCamObstaclesLocator::modelRobot().

void ObstaclesModel::setFrameNumber ( unsigned long frameNumber ) [inline]

Definition at line 53 of file ObstaclesModel.h.
Referenced by GT2005ObstaclesLocator::execute().

double ObstaclesModel::getDistanceInCorridor ( double angle,

double width

) const

returns the distance to the closest obstacle in the corridor specified by angle and width

Definition at line 107 of file ObstaclesModel.cpp.
References Geometry::Line::base, Geometry::Line::direction, distance, getAngleOfSector(), getSectorFromAngle(), LINE, maxDistance, numOfSectors, pi_2, point, Vector2< int >::x, Vector2< double >::x, Vector2< int >::y, and Vector2< double >::y.
Referenced by GT2005BasicBehaviorGoToPointAndAvoidObstacles::execute(), and GT2005ConfigurationSymbols::update().