AgentData Class Reference

Representation of the robot on the world map. More...

#include <AgentData.h>

Inheritance diagram for AgentData:

[legend]

Detailed Description

Representation of the robot on the world map.

Definition at line 20 of file AgentData.h.

List of all members.

Classes
struct	ColorIdTarget
Public Types
enum	RobotSide { FRONT, BACK, LEFT, RIGHT }
	Extraction. More...
Public Member Functions
	AgentData (ShapeSpace &_space, const Point &c, AngTwoPi orient=0.f)
	Constructor.
	AgentData (const AgentData &otherData)
	Copy constructor.
	DATASTUFF_H (AgentData)
Point	getCentroid () const
	Centroid. (Virtual in BaseData.).
int	getHostAddr () const
	Returns the agent's IP address.
void	setHostAddr (int addr)
	Sets the agent's IP address.
BoundingBox2D	getBoundingBox () const
	Returns the bounding box of the agent.
virtual bool	isMatchFor (const ShapeRoot &other) const
	Match agents based on their parameters. (Virtual in BaseData.).
virtual void	printParams () const
	Print information about this shape. (Virtual in BaseData.).
virtual bool	updateParams (const ShapeRoot &other, bool force=false)
	Update shape parameters after matching to another shape.
virtual void	projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane)
	Project to ground plane using given matrix.
virtual void	applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified)
	Transformations. (Virtual in BaseData.).
virtual unsigned short	getDimension () const
AngTwoPi	getOrientation () const
fmat::Column< 3 >	getBoundingBoxOffset () const
fmat::Column< 3 >	getBoundingBoxHalfDims () const
void	setOrientation (AngTwoPi _orientation)
	Don't call this; use MapBuilder::setAgent().
void	setCentroidPt (const Point &otherPt)
	Don't call this; use MapBuilder::setAgent().
virtual Sketch< bool > *	render () const
	Render into a sketch space and return reference.
AgentData &	operator= (const AgentData &)
	don't call
Static Public Member Functions
static ShapeType_t	getStaticType ()
static int	getColorIdMatch (yuv pixelColor)
static int	getIdFromCenter (const Sketch< yuv > &cam_frame, const Point &a, const Point &b, const Point &c)
static int	getIdFromCorner (const Sketch< yuv > &cam_frame, const Point &vert_a, const Point &vert_b, const Point &loner)
static bool	compareCircleSize (const Shape< EllipseData > &a, const Shape< EllipseData > &b)
static bool	compareCircleDist (const Point &a, const Point &b)
static bool	circlesVerticallyAligned (const Shape< EllipseData > &a, const Shape< EllipseData > &b)
static bool	circlesHorizontallyAligned (const Shape< EllipseData > &a, const Shape< EllipseData > &b)
static void	findCirclesManual (const Sketch< uchar > &camFrame, std::vector< int > &neighbor_density, std::vector< Shape< EllipseData > > &agentIdCircles)
static void	findAgentsBelt (const Sketch< yuv > &camFrameYUV, const std::vector< int > &neighbor_density, const std::vector< Shape< EllipseData > > &agentIdCircles)
static void	filterAgentOverlap ()
static void	extractAgents (const Sketch< uchar > &camFrame, const Sketch< yuv > &camFrameYUV, const std::set< color_index > &objcolors)
Static Public Attributes
static const int	NUM_COLOR_IDS = 4
static ColorIdTarget	color_ids [NUM_COLOR_IDS]
static const char *	agent_names [NUM_COLOR_IDS]
Private Attributes
Point	center_pt
AngTwoPi	orientation
int	hostAddr

Member Enumeration Documentation

enum RobotSide

Extraction.

Enumerator:

FRONT
BACK
LEFT
RIGHT

Definition at line 83 of file AgentData.h.

Constructor & Destructor Documentation

AgentData	(	ShapeSpace &	_space,
		const Point &	c,
		AngTwoPi	orient = `0.f`
	)

Constructor.

Definition at line 31 of file AgentData.cc.

AgentData ( const AgentData & otherData )

Copy constructor.

Definition at line 35 of file AgentData.cc.

Member Function Documentation

void applyTransform	(	const fmat::Transform &	Tmat,
		const ReferenceFrameType_t	newref = `unspecified`
	)			`[virtual]`

Transformations. (Virtual in BaseData.).

Implements BaseData.

Definition at line 84 of file AgentData.cc.

bool circlesHorizontallyAligned	(	const Shape< EllipseData > &	a,
		const Shape< EllipseData > &	b
	)			`[static]`

Definition at line 204 of file AgentData.cc.

Referenced by AgentData::findAgentsBelt().

bool circlesVerticallyAligned	(	const Shape< EllipseData > &	a,
		const Shape< EllipseData > &	b
	)			`[static]`

Definition at line 191 of file AgentData.cc.

Referenced by AgentData::findAgentsBelt().

static bool compareCircleDist	(	const Point &	a,
		const Point &	b
	)			`[static]`

Definition at line 113 of file AgentData.h.

Referenced by AgentData::findAgentsBelt().

static bool compareCircleSize	(	const Shape< EllipseData > &	a,
		const Shape< EllipseData > &	b
	)			`[static]`

Definition at line 108 of file AgentData.h.

Referenced by AgentData::findAgentsBelt().

DATASTUFF_H ( AgentData )

void extractAgents	(	const Sketch< uchar > &	camFrame,
		const Sketch< yuv > &	camFrameYUV,
		const std::set< color_index > &	objcolors
	)			`[static]`

Definition at line 503 of file AgentData.cc.

static void filterAgentOverlap ( ) [static]

void findAgentsBelt	(	const Sketch< yuv > &	camFrameYUV,
		const std::vector< int > &	neighbor_density,
		const std::vector< Shape< EllipseData > > &	agentIdCircles
	)			`[static]`

Definition at line 324 of file AgentData.cc.

Referenced by AgentData::extractAgents().

void findCirclesManual	(	const Sketch< uchar > &	camFrame,
		std::vector< int > &	neighbor_density,
		std::vector< Shape< EllipseData > > &	agentIdCircles
	)			`[static]`

Definition at line 217 of file AgentData.cc.

Referenced by AgentData::extractAgents().

BoundingBox2D getBoundingBox ( ) const [virtual]

Returns the bounding box of the agent.

Reimplemented from BaseData.

Definition at line 42 of file AgentData.cc.

fmat::Column<3> getBoundingBoxHalfDims ( ) const

Definition at line 71 of file AgentData.h.

fmat::Column<3> getBoundingBoxOffset ( ) const

Definition at line 70 of file AgentData.h.

Point getCentroid ( ) const [virtual]

Centroid. (Virtual in BaseData.).

Implements BaseData.

Definition at line 42 of file AgentData.h.

Referenced by AgentData::findAgentsBelt(), AgentData::printParams(), AgentData::render(), and AgentData::updateParams().

int getColorIdMatch ( yuv pixelColor ) [static]

Definition at line 148 of file AgentData.cc.

Referenced by AgentData::getIdFromCenter(), and AgentData::getIdFromCorner().

virtual unsigned short getDimension ( ) const [virtual]

Implements BaseData.

Definition at line 67 of file AgentData.h.

int getHostAddr ( ) const

Returns the agent's IP address.

Definition at line 45 of file AgentData.h.

int getIdFromCenter	(	const Sketch< yuv > &	cam_frame,
		const Point &	a,
		const Point &	b,
		const Point &	c
	)			`[static]`

Definition at line 174 of file AgentData.cc.

int getIdFromCorner	(	const Sketch< yuv > &	cam_frame,
		const Point &	vert_a,
		const Point &	vert_b,
		const Point &	loner
	)			`[static]`

Definition at line 181 of file AgentData.cc.

Referenced by AgentData::findAgentsBelt().

AngTwoPi getOrientation ( ) const

Definition at line 69 of file AgentData.h.

Referenced by AgentData::updateParams().

static ShapeType_t getStaticType ( ) [static]

Definition at line 33 of file AgentData.h.

bool isMatchFor ( const ShapeRoot & other ) const [virtual]

Match agents based on their parameters. (Virtual in BaseData.).

Implements BaseData.

Definition at line 54 of file AgentData.cc.

Referenced by AgentData::updateParams().

AgentData& operator= ( const AgentData & )

don't call

void printParams ( ) const [virtual]

Print information about this shape. (Virtual in BaseData.).

Implements BaseData.

Definition at line 65 of file AgentData.cc.

void projectToGround	(	const fmat::Transform &	camToBase,
		const PlaneEquation &	groundplane
	)			`[virtual]`

Project to ground plane using given matrix.

Implements BaseData.

Definition at line 98 of file AgentData.cc.

Sketch< bool > * render ( ) const [virtual]

Render into a sketch space and return reference.

Render into a sketch space and return reference. (Private.).

Implements BaseData.

Definition at line 118 of file AgentData.cc.

void setCentroidPt ( const Point & otherPt )

Don't call this; use MapBuilder::setAgent().

Definition at line 74 of file AgentData.h.

void setHostAddr ( int addr )

Sets the agent's IP address.

Definition at line 48 of file AgentData.h.

void setOrientation ( AngTwoPi _orientation )

Don't call this; use MapBuilder::setAgent().

Functions to set properties.

Definition at line 93 of file AgentData.cc.

bool updateParams	(	const ShapeRoot &	other,
		bool	forceUpdate = `false`
	)			`[virtual]`

Update shape parameters after matching to another shape.

Implements BaseData.

Definition at line 103 of file AgentData.cc.

Member Data Documentation

const char * agent_names [static]

Initial value:

 {
    "octopus", 
    "turtle", 
    "cycle", 
    "kodu", 
  }

Definition at line 102 of file AgentData.h.

Referenced by AgentData::findAgentsBelt().

Point center_pt [private]

Definition at line 22 of file AgentData.h.

Referenced by AgentData::applyTransform(), AgentData::getBoundingBox(), AgentData::getCentroid(), AgentData::isMatchFor(), AgentData::projectToGround(), AgentData::setCentroidPt(), and AgentData::updateParams().

AgentData::ColorIdTarget color_ids [static]

Initial value:

 {
    { 0, -1, -1, 115, 1.086f, 135, -0.638f}, 
    { 1, -1, -1, 110, 0, 130, -0.186}, 
    { 2, -1, -1, 90, 0, 152, -0.121f},  
    { 3, 0, 16, 128, 0, 128, 0},  
  }

Definition at line 101 of file AgentData.h.

Referenced by AgentData::getColorIdMatch().

int hostAddr [private]

Definition at line 24 of file AgentData.h.

Referenced by AgentData::getHostAddr(), and AgentData::setHostAddr().

const int NUM_COLOR_IDS = 4 [static]

Definition at line 100 of file AgentData.h.

Referenced by AgentData::getColorIdMatch().

AngTwoPi orientation [private]

Definition at line 23 of file AgentData.h.

Referenced by AgentData::applyTransform(), AgentData::getBoundingBox(), AgentData::getOrientation(), AgentData::printParams(), AgentData::setOrientation(), and AgentData::updateParams().

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