VRmixin Class Reference

Mix-in for the BehaviorBase or StateNode class to give access to VisualRoutinesBehavior variables. More...

#include <VRmixin.h>

Inheritance diagram for VRmixin:

[legend]

Detailed Description

Mix-in for the BehaviorBase or StateNode class to give access to VisualRoutinesBehavior variables.

Definition at line 35 of file VRmixin.h.

List of all members.

Public Member Functions
	VRmixin ()
	Constructor.
virtual	~VRmixin (void)
	Destructor.
Static Public Member Functions
static SketchSpace &	getCamSkS ()
	returns reference to the global space instances, call there from global constructors instead of accessing camSkS, which might not be initialized yet
static SketchSpace &	getLocalSkS ()
static SketchSpace &	getWorldSkS ()
static ShapeSpace &	getGroundShS ()
static void	startCrew ()
	starts map builders, pilot, and lookout
static void	stopCrew ()
	stops map builders, pilot, and lookout
static bool	encodeSketch (const SketchDataRoot &image)
static Sketch< uchar >	sketchFromSeg ()
	Import the current color-segmented camera image as a Sketch<uchar>
static Sketch< uchar >	sketchFromChannel (const RawCameraGenerator::channel_id_t chan)
	Import channel n image as a Sketch<uchar>
static Sketch< uchar >	sketchFromRawY ()
	Import the current y-channel camera image as a Sketch<uchar>
static Sketch< yuv >	sketchFromYUV ()
	Import the current camera image as a Sketch<yuv>
static Sketch< usint >	sketchFromDepth ()
	Import the current depth image as a Sketch<usint>
static std::vector< Shape < BlobData > >	getBlobsFromRegionGenerator (const color_index color, int minarea=25, const BlobData::BlobOrientation_t orient=BlobData::groundplane, const coordinate_t height=0, const int maxblobs=50)
	Import blobs from the current region list as a vector of Shape<BlobData>
static void	processSketchRequest (const std::string &line, SketchSpace &sketches, ShapeSpace &shapes)
	processes a single line of input for a Sketch request
static void	projectToGround ()
	Project shapes from cam space to ground space, uses CameraFrameOffset and Kinematics::calculateGroundPlane().
static void	projectToGround (const fmat::Transform &camToBase)
	Project shapes from cam space to ground space, will assume Kinematics::calculateGroundPlane() if plane is not specified.
static void	projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane)
Static Public Attributes
static SketchSpace &	camSkS = VRmixin::getCamSkS()
	The camera sketch space.
static ShapeSpace &	camShS = VRmixin::getCamSkS().getDualSpace()
	The camera shape space.
static ShapeSpace &	groundShS = VRmixin::getGroundShS()
	The ground shape space of MapBuilder (MapBuilder::groundShS).
static SketchSpace &	localSkS = VRmixin::getLocalSkS()
	The localmap sketch space (LocalMapBuilder::localSkS).
static ShapeSpace &	localShS = VRmixin::getLocalSkS().getDualSpace()
	The localmap shape space (LocalMapBuilder::localShS).
static SketchSpace &	worldSkS = VRmixin::getWorldSkS()
	The worldmap sketch space (WorldMapBuilder::localSkS).
static ShapeSpace &	worldShS = VRmixin::getWorldSkS().getDualSpace()
	The worldmap sketch space (WorldMapBuilder::localShS).
static Shape< AgentData >	theAgent
	The robot (usually lives in worldShS).
static MapBuilder *	mapBuilder = NULL
	the global world mapbuilder instance
static Lookout *	lookout = NULL
	the global Lookout instance
static Grasper *	grasper = NULL
static ShapeBasedParticleFilter *	particleFilter = NULL
	the global particle filter instance
Static Protected Attributes
static unsigned int	instanceCount = 0
	count of VRmixin instances -- when this hits zero, free sketch spaces
static unsigned int	crewCount = 0
	count of "crew" (pilot, lookout, map builders) users -- stop these when no one is using them
Private Member Functions
	VRmixin (const VRmixin &)
	never call this
VRmixin &	operator= (const VRmixin &)
	never call this
Static Private Member Functions
static int	camDialogSockCallback (char *buf, int bytes)
	Called whenever data is received on camDialogSocket.
static int	localDialogSockCallback (char *buf, int bytes)
	Called whenever data is received on localDialogSocket.
static int	worldDialogSockCallback (char *buf, int bytes)
	Called whenever data is received on worldDialogSocket.
static void	dialogCallback (char *buf, int bytes, std::string &incomplete, SketchSpace &SkS, ShapeSpace &ShS)
Static Private Attributes
static Socket *	camDialogSock = NULL
	socket to talk with cam-space sketch viewer
static Socket *	camSketchSock = NULL
	socket for transmitting sketch images to cam-space sketch viewer
static Socket *	localDialogSock = NULL
	socket to talk with local-space sketch viewer
static Socket *	localSketchSock = NULL
	socket for transmitting sketch images to local-space sketch viewer
static Socket *	worldDialogSock = NULL
	socket to talk with world-space sketch viewer
static Socket *	worldSketchSock = NULL
	socket for transmitting sketch images to world-space sketch viewer
static VRmixin *	theOne = NULL
	used so static member functions can access non-static members; works because there will always be a unique instance of VRmixin

Constructor & Destructor Documentation

VRmixin ( )

Constructor.

Definition at line 89 of file VRmixin.cc.

~VRmixin ( void ) [virtual]

Destructor.

Definition at line 141 of file VRmixin.cc.

VRmixin ( const VRmixin & ) [private]

never call this

Member Function Documentation

int camDialogSockCallback	(	char *	buf,
		int	bytes
	)			`[static, private]`

Called whenever data is received on camDialogSocket.

Definition at line 245 of file VRmixin.cc.

Referenced by VRmixin::VRmixin().

void dialogCallback	(	char *	buf,
		int	bytes,
		std::string &	incomplete,
		SketchSpace &	SkS,
		ShapeSpace &	ShS
	)			`[static, private]`

Definition at line 263 of file VRmixin.cc.

Referenced by VRmixin::camDialogSockCallback(), VRmixin::localDialogSockCallback(), and VRmixin::worldDialogSockCallback().

bool encodeSketch ( const SketchDataRoot & image ) [static]

Definition at line 283 of file VRmixin.cc.

Referenced by VRmixin::processSketchRequest().

vector< Shape< BlobData > > getBlobsFromRegionGenerator	(	const color_index	color,
		int	minarea = `25`,
		const BlobData::BlobOrientation_t	orient = `BlobData::groundplane`,
		const coordinate_t	height = `0`,
		const int	maxblobs = `50`
	)			`[static]`