BaseData Class Reference

Base class that all shape data classes inherit from, e.g., LineData, BlobData, etc. More...

#include <BaseData.h>

Inheritance diagram for BaseData:

[legend]

Detailed Description

Base class that all shape data classes inherit from, e.g., LineData, BlobData, etc.

Definition at line 28 of file BaseData.h.

List of all members.

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 () const
ShapeRoot	copy () const
ShapeSpace &	getSpace () const
void	setSpace (ShapeSpace *_space)
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 void	importAdjust ()
	Adjust shape components after the shape has been imported (e.g., used by polygons).
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=true)
bool	isLandmark () const
void	setLandmark (bool _landmark=true)
void	deleteRendering ()
virtual Point	getCentroid () const =0
	return the centroid of the shape in point format
virtual Shape< PointData >	getCentroidPtShape () const
virtual void	setPosition (const Point &pt)
	Set the position of a shape.
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)
	Assignment 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.
bool	landmark
	True if shape should be used as a landmark.
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 32 of file BaseData.cc.

BaseData ( const BaseData & otherData )

Copy constructor.

Definition at line 42 of file BaseData.cc.

~BaseData ( void ) [virtual]

Destructor.

Definition at line 53 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, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

Referenced by BaseData::setPosition().

BaseData * clone ( ) const [virtual]

Definition at line 165 of file BaseData.cc.

Referenced by BaseData::copy().

ShapeRoot copy ( ) const

Definition at line 192 of file BaseData.cc.

void decreaseConfidence ( )

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Definition at line 209 of file BaseData.cc.

void deleteRendering ( )

Definition at line 150 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 AgentData, AprilTagData, BlobData, BrickData, CrossData, CylinderData, EllipseData, LineData, PointData, PolygonData, SiftData, SkeletonData, and TargetData.

Definition at line 103 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, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

Referenced by BaseData::getCentroidPtShape(), and BaseData::setPosition().

Shape< PointData > getCentroidPtShape ( ) const [virtual]

Definition at line 58 of file BaseData.cc.

rgb getColor ( ) const

virtual int getConfidence ( void ) const [virtual]

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Reimplemented in PolygonData.

Definition at line 107 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, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

int getLastMatchId ( ) const

Definition at line 92 of file BaseData.h.

bool getMobile ( ) const

Mobility.

Definition at line 146 of file BaseData.cc.

Referenced by SphereData::printParams(), LineData::printParams(), EllipseData::printParams(), and AgentData::printParams().

const std::string& getName ( ) const

ReferenceFrameType_t getRefFrameType ( ) const

Definition at line 111 of file BaseData.cc.

Referenced by CylinderData::CylinderData(), EllipseData::EllipseData(), PolygonData::getCentroid(), BlobData::getCentroid(), LineData::pointIsAbove(), LineData::pointIsBelow(), LineData::pointIsLeftOf(), LineData::pointIsRightOf(), BaseData::setPosition(), 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 155 of file BaseData.cc.

Referenced by BrickData::extractBrick(), PyramidData::extractPyramid(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), and BlobData::findCornersShapeFit().

ShapeSpace& getSpace ( ) const

Definition at line 69 of file BaseData.h.

Referenced by DominoData::computeGraspPoint(), DominoData::computeTargetPosition(), 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 118 of file BaseData.cc.

Referenced by TargetData::printParams(), SphereData::printParams(), SkeletonData::printParams(), SiftData::printParams(), PyramidData::printParams(), PointData::printParams(), NaughtData::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 81 of file BaseData.h.

Referenced by BrickData::extractBrick(), BrickData::findBricksFromBlobs(), BlobData::findCorners(), SketchDataRoot::inheritFrom(), BaseData::inheritFrom(), TargetData::render(), PyramidData::render(), and BrickData::render().

virtual void importAdjust ( ) [virtual]

Adjust shape components after the shape has been imported (e.g., used by polygons).

Reimplemented in PolygonData.

Definition at line 101 of file BaseData.h.

Referenced by ShapeSpace::addShape().

void increaseConfidence	(	const ShapeRoot &	other,
		int	maxConfidence = `-1`
	)

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Definition at line 205 of file BaseData.cc.

void increaseConfidence	(	const BaseData &	other,
		int	maxConfidence = `-1`
	)

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Definition at line 201 of file BaseData.cc.

void increaseConfidence	(	int	n = `1`,
		int	maxConfidence = `-1`
	)

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Definition at line 194 of file BaseData.cc.

Referenced by BaseData::increaseConfidence().

void inheritFrom ( const SketchDataRoot & parent )

Definition at line 96 of file BaseData.cc.

void inheritFrom ( const ShapeRoot & parent )

Definition at line 91 of file BaseData.cc.

void inheritFrom ( const BaseData & parent )

Definition at line 86 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, SkeletonData, SphereData, and TargetData.

Definition at line 156 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 162 of file BaseData.h.

bool isLandmark ( ) const

Definition at line 177 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, CrossData, CylinderData, DominoData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

bool isObstacle ( ) const

Definition at line 174 of file BaseData.h.

bool isSameColorAs ( const ShapeRoot & other ) const

Test if shape colors are the same.

Definition at line 128 of file BaseData.cc.

Referenced by TargetData::isMatchFor(), SphereData::isMatchFor(), PyramidData::isMatchFor(), PolygonData::isMatchFor(), PointData::isMatchFor(), NaughtData::isMatchFor(), LocalizationParticleData::isMatchFor(), LineData::isMatchFor(), EllipseData::isMatchFor(), DominoData::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 124 of file BaseData.cc.

Referenced by TargetData::isMatchFor(), SphereData::isMatchFor(), SkeletonData::isMatchFor(), SiftData::isMatchFor(), PyramidData::isMatchFor(), PointData::isMatchFor(), NaughtData::isMatchFor(), MarkerData::isMatchFor(), LocalizationParticleData::isMatchFor(), LineData::isMatchFor(), EllipseData::isMatchFor(), DominoData::isMatchFor(), CylinderData::isMatchFor(), BrickData::isMatchFor(), BlobData::isMatchFor(), AprilTagData::isMatchFor(), and AgentData::isMatchFor().

bool isType ( ShapeType_t this_type ) const

Test the shape type.

Definition at line 121 of file BaseData.cc.

Referenced by BaseData::isSameTypeAs().

bool isViewable ( ) const

Definition at line 78 of file BaseData.h.

Referenced by SphereData::printParams(), PyramidData::printParams(), PointData::printParams(), LineData::printParams(), EllipseData::printParams(), and AgentData::printParams().

virtual bool localizeByCamera ( ) const [virtual]

Reimplemented in MarkerData.

Definition at line 172 of file BaseData.h.

void N ( std::string const & _name = "" )

Definition at line 106 of file BaseData.cc.

BaseData & operator= ( const BaseData & other )

Assignment operator. Assumes "&other =? this" check is done by the sub class calling this operator.

Definition at line 64 of file BaseData.cc.

virtual void printParams ( ) const [pure virtual]

Prints information about this shape.

Implemented in AgentData, AprilTagData, BiColorMarkerData, BlobData, BrickData, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, 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, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

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

Render into a sketch space.

Implemented in AgentData, AprilTagData, BlobData, BrickData, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

Referenced by BaseData::getRendering().

void setColor ( const unsigned int color_index )

Color.

Get the color.

Reimplemented in PolygonData.

Definition at line 141 of file BaseData.cc.

void setColor ( const rgb & new_color )

Color.

Get the color.

Reimplemented in PolygonData.

Definition at line 135 of file BaseData.cc.

void setColor ( const std::string & color_name )

Set shape and rendering sketch color.

Reimplemented in PolygonData.

Definition at line 131 of file BaseData.cc.

Referenced by BlobData::BlobData(), CylinderData::extractCylinders(), BaseData::inheritFrom(), MarkerData::MarkerData(), and BaseData::setColor().

void setConfidence ( const BaseData & other )

Confidence.

returns confidence of Data. Reimpletemnted in PolygonData

Definition at line 115 of file BaseData.h.

void setLandmark ( bool _landmark = true )

Definition at line 178 of file BaseData.h.

void setLastMatchId ( int _lmid )

Definition at line 93 of file BaseData.h.

void setMobile ( bool mobility )

Mobility.

Definition at line 148 of file BaseData.cc.

void setName ( const std::string & _name )

Definition at line 96 of file BaseData.h.

Referenced by BaseData::N(), and BaseData::V().

void setObstacle ( bool _obstacle = true )

Definition at line 175 of file BaseData.h.

void setParentId ( int _pid )

Definition at line 76 of file BaseData.h.

Referenced by BlobData::extractBlobs(), CylinderData::extractCylinders(), and BaseData::inheritFrom().

void setPosition ( const Point & pt ) [virtual]

Set the position of a shape.

Definition at line 214 of file BaseData.cc.

void setSpace ( ShapeSpace * _space )

Definition at line 70 of file BaseData.h.

void setViewable ( bool _viewable )

Definition at line 79 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, CrossData, CylinderData, EllipseData, GraphicsData, LineData, LocalizationParticleData, MarkerData, NaughtData, PointData, PolygonData, PyramidData, SiftData, SkeletonData, SphereData, and TargetData.

void V ( std::string const & _name = "" )

Definition at line 101 of file BaseData.cc.

Friends And Related Function Documentation

friend class ShapeRoot [friend]

Definition at line 30 of file BaseData.h.

Referenced by BaseData::copy().

friend class ShapeSpace [friend]

Reimplemented in CrossData.

Definition at line 31 of file BaseData.h.

Member Data Documentation

rgb color_rgb [protected]

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.

int id [protected]

Definition at line 38 of file BaseData.h.

Referenced by ShapeSpace::addShape(), BaseData::getId(), BaseData::getViewableId(), PolygonData::importAdjust(), ShapeRoot::isValid(), BaseData::operator=(), and ShapeRoot::sanity_check().

bool landmark [protected]

True if shape should be used as a landmark.

Definition at line 49 of file BaseData.h.

Referenced by BaseData::isLandmark(), BaseData::operator=(), and BaseData::setLandmark().

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=(), PolygonData::PolygonData(), 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 51 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(), PolygonData::importAdjust(), ShapeSpace::importShape(), PolygonData::intersectsLine(), LineData::isBetween(), PolygonData::isInside(), LineData::isMatchFor(), LineData::leftPtShape(), LineData::LineData(), BaseData::operator=(), PointData::PointData(), TargetData::render(), SphereData::render(), SkeletonData::render(), SiftData::render(), PyramidData::render(), PolygonData::render(), PointData::render(), NaughtData::render(), MarkerData::render(), LocalizationParticleData::render(), LineData::render(), GraphicsData::render(), EllipseData::render(), CylinderData::render(), BrickData::render(), BlobData::render(), AprilTagData::render(), AgentData::render(), LineData::renderOnTo(), LineData::rightPtShape(), LineData::secondPtShape(), LineData::setDrawCoords(), BaseData::setSpace(), PolygonData::setVertices(), LineData::topPtShape(), and PolygonData::tryClosePolygon().

ShapeType_t type [protected]

Definition at line 37 of file BaseData.h.

Referenced by BaseData::clone(), DominoData::DominoData(), 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:

BaseData Class Reference

Detailed Description

Public Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation