BaseData Class Reference
Base class that all shape data classes inherit from, e.g., LineData, BlobData, etc. More...
#include <BaseData.h>
Detailed Description
Base class that all shape data classes inherit from, e.g., LineData, BlobData, etc.
Definition at line 28 of file BaseData.h.
Public Member Functions | |
| BaseData (ShapeSpace &_space, ShapeType_t typeval, int _parentId=0) | |
| Constructor. | |
| BaseData (const BaseData &otherData) | |
| Copy constructor. | |
| virtual | ~BaseData (void) |
| Destructor. | |
| virtual BaseData * | clone (void) const =0 |
| ShapeSpace & | getSpace () const |
| ReferenceFrameType_t | getRefFrameType () const |
| int | getId () const |
| int | getParentId () const |
| void | setParentId (int _pid) |
| bool | isViewable () const |
| void | setViewable (bool _viewable) |
| int | getViewableId () const |
| void | inheritFrom (const BaseData &parent) |
| void | inheritFrom (const ShapeRoot &parent) |
| void | inheritFrom (const SketchDataRoot &parent) |
| int | getLastMatchId () const |
| void | setLastMatchId (int _lmid) |
| const std::string & | getName () const |
| void | setName (const std::string &_name) |
| void | V (std::string const &_name="") |
| void | N (std::string const &_name="") |
| virtual BoundingBox2D | getBoundingBox () const |
| bool | isSameColorAs (const ShapeRoot &other) const |
| Test if shape colors are the same. | |
| virtual bool | isMatchFor (const ShapeRoot &other) const =0 |
| Shapes match if their coordinates agree. DOES NOT Assume type and color already checked. | |
| virtual bool | isAdmissible () const |
| Combine two shapes by taking weighted average depending on confidence level. | |
| virtual bool | updateParams (const ShapeRoot &other, bool forceUpdate=false)=0 |
| Update shape parameters after matching to another shape. | |
| virtual bool | isInside (const Point &) const |
| returns if a point is inside the shape or not. Reimplemented by EllipseData, SphereData, PolygonData | |
| virtual unsigned short | getDimension () const =0 |
| virtual bool | localizeByCamera () const |
| bool | isObstacle () const |
| void | setObstacle (bool _obstacle) |
| void | deleteRendering () |
| virtual Point | getCentroid () const =0 |
| return the centroid of the shape in point format | |
| virtual Shape< PointData > | getCentroidPtShape () const |
| virtual void | printParams () const =0 |
| Prints information about this shape. | |
| virtual void | applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified)=0 |
| Apply a transformation matrix to the shape. | |
| virtual void | projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane)=0 |
| Project to ground plane using given matrix. | |
| BaseData & | operator= (const BaseData &other) |
| Copy operator. Assumes "&other =? this" check is done by the sub class calling this operator. | |
| virtual int | getConfidence () const |
| Confidence. | |
| void | increaseConfidence (int n=1, int maxConfidence=-1) |
| Confidence. | |
| void | increaseConfidence (const BaseData &other, int maxConfidence=-1) |
| Confidence. | |
| void | increaseConfidence (const ShapeRoot &other, int maxConfidence=-1) |
| Confidence. | |
| void | decreaseConfidence () |
| Confidence. | |
| void | setConfidence (const BaseData &other) |
| Confidence. | |
| virtual ShapeType_t | getType () const =0 |
| Type. | |
| const char * | getTypeName () const |
| Type. | |
| bool | isType (ShapeType_t this_type) const |
| Test the shape type. | |
| bool | isSameTypeAs (const ShapeRoot &other) const |
| Test if shape types are the same. | |
| rgb | getColor () const |
| Color. | |
| void | setColor (const std::string &color_name) |
| Set shape and rendering sketch color. | |
| void | setColor (const rgb &new_color) |
| Color. | |
| void | setColor (const unsigned int color_index) |
| Color. | |
| bool | getMobile () const |
| Mobility. | |
| void | setMobile (bool mobility) |
| Mobility. | |
Protected Attributes | |
| ShapeSpace * | space |
| std::string | name |
| ShapeType_t | type |
| int | id |
| int | parentId |
| int | lastMatchId |
| Id of the shape in the preceding space that gave rise to or was matched to this one. | |
| int | refcount |
| bool | viewable |
| rgb | color_rgb |
| int | confidence |
| Confidence that this shape exists and isn't noise. | |
| bool | mobile |
| True if this shape can move in the world. | |
| bool | obstacle |
| True if shape is an obstacle. | |
| Sketch< bool > * | rendering_sketch |
Friends | |
| class | ShapeRoot |
| class | ShapeSpace |
|
| |
| Sketch< bool > & | getRendering () |
| Update properties of the shape derived from endpoints or other basic parameters. | |
| virtual Sketch< bool > * | render () const =0 |
| Render into a sketch space. | |
Constructor & Destructor Documentation
| BaseData | ( | ShapeSpace & | _space, | |
| ShapeType_t | typeval, | |||
| int | _parentId = 0 | |||
| ) |
Constructor.
Definition at line 13 of file BaseData.cc.
Copy constructor.
Definition at line 38 of file BaseData.cc.
| ~BaseData | ( | void | ) | [virtual] |
Destructor.
Definition at line 52 of file BaseData.cc.
Member Function Documentation
| virtual void applyTransform | ( | const fmat::Transform & | Tmat, | |
| const ReferenceFrameType_t | newref = unspecified | |||
| ) | [pure virtual] |
Apply a transformation matrix to the shape.
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| virtual BaseData* clone | ( | void | ) | const [pure virtual] |
| void decreaseConfidence | ( | ) |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Definition at line 107 of file BaseData.h.
| void deleteRendering | ( | ) |
Definition at line 148 of file BaseData.cc.
Referenced by LineData::getRendering(), PolygonData::setColor(), EllipseData::setOrientation(), AgentData::setOrientation(), SphereData::setRadius(), EllipseData::setSemimajor(), EllipseData::setSemiminor(), LineData::update_derived_properties(), PyramidData::updateParams(), PointData::updateParams(), and BrickData::updateParams().
| virtual BoundingBox2D getBoundingBox | ( | ) | const [virtual] |
Reimplemented in AprilTagData, BlobData, EllipseData, LineData, PointData, PolygonData, SiftData, and TargetData.
Definition at line 97 of file BaseData.h.
| virtual Point getCentroid | ( | ) | const [pure virtual] |
return the centroid of the shape in point format
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
Referenced by BaseData::getCentroidPtShape().
| Shape< PointData > getCentroidPtShape | ( | ) | const [virtual] |
Definition at line 57 of file BaseData.cc.
| rgb getColor | ( | ) | const |
Color.
Get the color.
Definition at line 128 of file BaseData.h.
Referenced by BaseData::getRendering(), BaseData::inheritFrom(), MarkerData::isMatchingMarker(), BaseData::isSameColorAs(), SphereData::printParams(), PyramidData::printParams(), PointData::printParams(), MarkerData::printParams(), LineData::printParams(), EllipseData::printParams(), CylinderData::printParams(), BrickData::printParams(), BlobData::printParams(), AgentData::printParams(), TargetData::render(), PyramidData::render(), and BrickData::render().
| virtual int getConfidence | ( | void | ) | const [virtual] |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Reimplemented in PolygonData.
Definition at line 101 of file BaseData.h.
Referenced by BaseData::increaseConfidence(), BaseData::setConfidence(), and AgentData::updateParams().
| virtual unsigned short getDimension | ( | ) | const [pure virtual] |
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| int getId | ( | ) | const |
Definition at line 70 of file BaseData.h.
Referenced by SiftData::displayMatchedFeatures(), TargetData::printParams(), SphereData::printParams(), SiftData::printParams(), PyramidData::printParams(), PointData::printParams(), MarkerData::printParams(), LocalizationParticleData::printParams(), LineData::printParams(), GraphicsData::printParams(), EllipseData::printParams(), CylinderData::printParams(), BrickData::printParams(), BlobData::printParams(), BiColorMarkerData::printParams(), AprilTagData::printParams(), and AgentData::printParams().
| int getLastMatchId | ( | ) | const |
Definition at line 88 of file BaseData.h.
| bool getMobile | ( | ) | const |
Mobility.
Definition at line 144 of file BaseData.cc.
Referenced by SphereData::printParams(), LineData::printParams(), EllipseData::printParams(), and AgentData::printParams().
| const std::string& getName | ( | ) | const |
Definition at line 91 of file BaseData.h.
Referenced by BaseData::getRendering(), TargetData::render(), SphereData::render(), SiftData::render(), PyramidData::render(), PointData::render(), MarkerData::render(), LocalizationParticleData::render(), LineData::render(), GraphicsData::render(), EllipseData::render(), BrickData::render(), BlobData::render(), AprilTagData::render(), and AgentData::render().
| int getParentId | ( | ) | const |
Definition at line 71 of file BaseData.h.
Referenced by TargetData::printParams(), SphereData::printParams(), SiftData::printParams(), PyramidData::printParams(), PointData::printParams(), MarkerData::printParams(), LocalizationParticleData::printParams(), LineData::printParams(), EllipseData::printParams(), CylinderData::printParams(), BrickData::printParams(), BlobData::printParams(), BiColorMarkerData::printParams(), AprilTagData::printParams(), and AgentData::printParams().
| ReferenceFrameType_t getRefFrameType | ( | ) | const |
Definition at line 109 of file BaseData.cc.
Referenced by CylinderData::CylinderData(), EllipseData::EllipseData(), PolygonData::getCentroid(), BlobData::getCentroid(), LineData::pointIsAbove(), LineData::pointIsBelow(), LineData::pointIsLeftOf(), LineData::pointIsRightOf(), TargetData::update_derived_properties(), and LineData::update_derived_properties().
| Sketch< bool > & getRendering | ( | ) |
Update properties of the shape derived from endpoints or other basic parameters.
Rendering. Returns a pointer to the rendering associated with the ShapeRoot object. If no such rendering exists, it is created.
Reimplemented in LineData.
Definition at line 153 of file BaseData.cc.
Referenced by BrickData::extractBrick(), PyramidData::extractPyramid(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), and BlobData::findCornersShapeFit().
| ShapeSpace& getSpace | ( | ) | const |
Definition at line 67 of file BaseData.h.
Referenced by TargetData::extractLineTarget(), PolygonData::isInside(), SphereData::projectToGround(), and SphereData::render().
| virtual ShapeType_t getType | ( | ) | const [pure virtual] |
Type.
Get the shape type.
| const char * getTypeName | ( | ) | const |
Type.
Get shape type name.
Definition at line 116 of file BaseData.cc.
Referenced by TargetData::printParams(), SphereData::printParams(), SiftData::printParams(), PyramidData::printParams(), PointData::printParams(), MarkerData::printParams(), LocalizationParticleData::printParams(), LineData::printParams(), EllipseData::printParams(), CylinderData::printParams(), BrickData::printParams(), BlobData::printParams(), BiColorMarkerData::printParams(), AprilTagData::printParams(), and AgentData::printParams().
| int getViewableId | ( | ) | const |
Definition at line 77 of file BaseData.h.
Referenced by BrickData::extractBrick(), BrickData::findBricksFromBlobs(), BlobData::findCorners(), BaseData::inheritFrom(), TargetData::render(), PyramidData::render(), and BrickData::render().
| void increaseConfidence | ( | const ShapeRoot & | other, | |
| int | maxConfidence = -1 | |||
| ) |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Definition at line 174 of file BaseData.cc.
| void increaseConfidence | ( | const BaseData & | other, | |
| int | maxConfidence = -1 | |||
| ) |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Definition at line 170 of file BaseData.cc.
| void increaseConfidence | ( | int | n = 1, |
|
| int | maxConfidence = -1 | |||
| ) |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Definition at line 164 of file BaseData.cc.
Referenced by BaseData::increaseConfidence().
| void inheritFrom | ( | const SketchDataRoot & | parent | ) |
Definition at line 94 of file BaseData.cc.
| void inheritFrom | ( | const ShapeRoot & | parent | ) |
Definition at line 89 of file BaseData.cc.
| void inheritFrom | ( | const BaseData & | parent | ) |
Definition at line 84 of file BaseData.cc.
Referenced by BaseData::getCentroidPtShape().
| virtual bool isAdmissible | ( | ) | const [virtual] |
Combine two shapes by taking weighted average depending on confidence level.
Shapes are admissible to the local map if they're large enough not to be noise.
Reimplemented in AprilTagData, BrickData, EllipseData, LineData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
Definition at line 149 of file BaseData.h.
| virtual bool isInside | ( | const Point & | ) | const [virtual] |
returns if a point is inside the shape or not. Reimplemented by EllipseData, SphereData, PolygonData
Reimplemented in PolygonData, and SphereData.
Definition at line 155 of file BaseData.h.
| virtual bool isMatchFor | ( | const ShapeRoot & | other | ) | const [pure virtual] |
Shapes match if their coordinates agree. DOES NOT Assume type and color already checked.
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| bool isObstacle | ( | ) | const |
Definition at line 167 of file BaseData.h.
| bool isSameColorAs | ( | const ShapeRoot & | other | ) | const |
Test if shape colors are the same.
Definition at line 126 of file BaseData.cc.
Referenced by TargetData::isMatchFor(), SphereData::isMatchFor(), PyramidData::isMatchFor(), PolygonData::isMatchFor(), PointData::isMatchFor(), LocalizationParticleData::isMatchFor(), LineData::isMatchFor(), EllipseData::isMatchFor(), CylinderData::isMatchFor(), BrickData::isMatchFor(), and BlobData::isMatchFor().
| bool isSameTypeAs | ( | const ShapeRoot & | other | ) | const |
Test if shape types are the same.
Test that two shapes are of same type.
Definition at line 122 of file BaseData.cc.
Referenced by TargetData::isMatchFor(), SphereData::isMatchFor(), SiftData::isMatchFor(), PyramidData::isMatchFor(), PointData::isMatchFor(), MarkerData::isMatchFor(), LocalizationParticleData::isMatchFor(), LineData::isMatchFor(), EllipseData::isMatchFor(), CylinderData::isMatchFor(), BrickData::isMatchFor(), BlobData::isMatchFor(), and AprilTagData::isMatchFor().
| bool isType | ( | ShapeType_t | this_type | ) | const |
Test the shape type.
Definition at line 119 of file BaseData.cc.
Referenced by BaseData::isSameTypeAs().
| bool isViewable | ( | ) | const |
Definition at line 74 of file BaseData.h.
Referenced by SphereData::printParams(), PyramidData::printParams(), PointData::printParams(), LineData::printParams(), EllipseData::printParams(), BrickData::printParams(), and AgentData::printParams().
| virtual bool localizeByCamera | ( | ) | const [virtual] |
Reimplemented in MarkerData.
Definition at line 165 of file BaseData.h.
| void N | ( | std::string const & | _name = "" |
) |
Definition at line 104 of file BaseData.cc.
Copy operator. Assumes "&other =? this" check is done by the sub class calling this operator.
Definition at line 63 of file BaseData.cc.
| virtual void printParams | ( | ) | const [pure virtual] |
Prints information about this shape.
Implemented in AgentData, AprilTagData, BiColorMarkerData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| virtual void projectToGround | ( | const fmat::Transform & | camToBase, | |
| const PlaneEquation & | groundplane | |||
| ) | [pure virtual] |
Project to ground plane using given matrix.
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| virtual Sketch<bool>* render | ( | ) | const [private, pure virtual] |
Render into a sketch space.
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
Referenced by BaseData::getRendering().
| void setColor | ( | const unsigned int | color_index | ) |
| void setColor | ( | const rgb & | new_color | ) |
| void setColor | ( | const std::string & | color_name | ) |
Set shape and rendering sketch color.
Reimplemented in PolygonData.
Definition at line 129 of file BaseData.cc.
Referenced by BlobData::BlobData(), BaseData::inheritFrom(), MarkerData::MarkerData(), and BaseData::setColor().
| void setConfidence | ( | const BaseData & | other | ) |
Confidence.
returns confidence of Data. Reimpletemnted in PolygonData
Definition at line 108 of file BaseData.h.
| void setLastMatchId | ( | int | _lmid | ) |
Definition at line 89 of file BaseData.h.
| void setMobile | ( | bool | mobility | ) |
Mobility.
Definition at line 146 of file BaseData.cc.
| void setName | ( | const std::string & | _name | ) |
Definition at line 92 of file BaseData.h.
Referenced by BaseData::N(), and BaseData::V().
| void setObstacle | ( | bool | _obstacle | ) |
Definition at line 168 of file BaseData.h.
| void setParentId | ( | int | _pid | ) |
Definition at line 72 of file BaseData.h.
Referenced by BlobData::extractBlobs(), and BaseData::inheritFrom().
| void setViewable | ( | bool | _viewable | ) |
Definition at line 75 of file BaseData.h.
Referenced by BaseData::N(), and BaseData::V().
| virtual bool updateParams | ( | const ShapeRoot & | other, | |
| bool | forceUpdate = false | |||
| ) | [pure virtual] |
Update shape parameters after matching to another shape.
Implemented in AgentData, AprilTagData, BlobData, BrickData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, PointData, PolygonData, PyramidData, SiftData, SphereData, and TargetData.
| void V | ( | std::string const & | _name = "" |
) |
Definition at line 99 of file BaseData.cc.
Friends And Related Function Documentation
friend class ShapeRoot [friend] |
Definition at line 30 of file BaseData.h.
friend class ShapeSpace [friend] |
Definition at line 31 of file BaseData.h.
Member Data Documentation
Definition at line 43 of file BaseData.h.
Referenced by BaseData::getColor(), BaseData::operator=(), PolygonData::setColor(), and BaseData::setColor().
int confidence [protected] |
Confidence that this shape exists and isn't noise.
Definition at line 45 of file BaseData.h.
Referenced by BaseData::decreaseConfidence(), BaseData::getConfidence(), BaseData::increaseConfidence(), TargetData::mergeWith(), SphereData::mergeWith(), PointData::mergeWith(), BaseData::operator=(), BaseData::setConfidence(), TargetData::updateParams(), SphereData::updateParams(), PyramidData::updateParams(), PointData::updateParams(), MarkerData::updateParams(), EllipseData::updateParams(), BrickData::updateParams(), BlobData::updateParams(), and AgentData::updateParams().
int id [protected] |
Definition at line 38 of file BaseData.h.
Referenced by ShapeSpace::addShape(), BaseData::getId(), BaseData::getViewableId(), ShapeRoot::isValid(), BaseData::operator=(), and ShapeRoot::sanity_check().
int lastMatchId [protected] |
Id of the shape in the preceding space that gave rise to or was matched to this one.
Definition at line 40 of file BaseData.h.
Referenced by BaseData::getLastMatchId(), ShapeSpace::importShape(), BaseData::operator=(), and BaseData::setLastMatchId().
bool mobile [protected] |
True if this shape can move in the world.
Definition at line 46 of file BaseData.h.
Referenced by AgentData::AgentData(), CylinderData::CylinderData(), EllipseData::EllipseData(), BaseData::getMobile(), GraphicsData::GraphicsData(), BaseData::operator=(), PolygonData::PolygonData(), BaseData::setMobile(), and SphereData::SphereData().
std::string name [protected] |
Definition at line 36 of file BaseData.h.
Referenced by PyramidData::extractPyramid(), BaseData::getName(), BaseData::operator=(), and BaseData::setName().
bool obstacle [protected] |
True if shape is an obstacle.
Definition at line 48 of file BaseData.h.
Referenced by GraphicsData::GraphicsData(), BaseData::isObstacle(), LocalizationParticleData::LocalizationParticleData(), BaseData::operator=(), and BaseData::setObstacle().
int parentId [protected] |
Definition at line 39 of file BaseData.h.
Referenced by BaseData::getParentId(), BaseData::getViewableId(), ShapeSpace::importShape(), BaseData::operator=(), and BaseData::setParentId().
int refcount [protected] |
Definition at line 41 of file BaseData.h.
Referenced by ShapeSpace::importShape(), ShapeRoot::operator=(), BaseData::operator=(), ShapeRoot::ShapeRoot(), and ShapeRoot::~ShapeRoot().
Sketch<bool>* rendering_sketch [protected] |
Definition at line 50 of file BaseData.h.
Referenced by BaseData::deleteRendering(), LineData::getRendering(), BaseData::getRendering(), BaseData::operator=(), BaseData::setColor(), and BaseData::~BaseData().
ShapeSpace* space [protected] |
Definition at line 35 of file BaseData.h.
Referenced by ShapeRoot::addShape(), LineData::bottomPtShape(), ShapeRoot::deleteShape(), SiftData::displayMatchedFeatures(), BlobData::findCorners(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), BlobData::findCornersShapeFit(), LineData::firstPtShape(), LocalizationParticleData::getCentroid(), BaseData::getCentroidPtShape(), BaseData::getRefFrameType(), ShapeRoot::getSpace(), BaseData::getSpace(), ShapeSpace::importShape(), PolygonData::intersectsLine(), LineData::isBetween(), PolygonData::isInside(), LineData::isMatchFor(), LineData::leftPtShape(), LineData::LineData(), BaseData::operator=(), PointData::PointData(), TargetData::render(), SphereData::render(), SiftData::render(), PyramidData::render(), PolygonData::render(), PointData::render(), MarkerData::render(), LocalizationParticleData::render(), LineData::render(), GraphicsData::render(), EllipseData::render(), BrickData::render(), BlobData::render(), AprilTagData::render(), AgentData::render(), LineData::rightPtShape(), LineData::secondPtShape(), LineData::setDrawCoords(), PolygonData::setVertices(), LineData::topPtShape(), and PolygonData::tryClosePolygon().
ShapeType_t type [protected] |
Definition at line 37 of file BaseData.h.
Referenced by BaseData::getTypeName(), BaseData::isType(), and BaseData::operator=().
bool viewable [protected] |
Definition at line 42 of file BaseData.h.
Referenced by BaseData::getViewableId(), BaseData::isViewable(), BaseData::operator=(), and BaseData::setViewable().
The documentation for this class was generated from the following files:
