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 37 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 void	requireCrew (const std::string &memberName)
	checks to make sure Crew is instantiated
static bool	isWalking ()
static bool	encodeSketch (const SketchDataRoot &image)
static Sketch< uchar >	sketchFromSeg ()
	Import the current color-segmented camera image as a Sketch<uchar>. Must be called from doEvent().
static Sketch< uchar >	sketchFromChannel (const RawCameraGenerator::channel_id_t chan)
	Import channel n image as a Sketch<uchar>. Must be called from doEvent().
static Sketch< uchar >	sketchFromRawY ()
	Import the current y-channel camera image as a Sketch<uchar>a. Must be called from doEvent().
static Sketch< yuv >	sketchFromYUV ()
	Import the current camera image as a Sketch<yuv>. Must be called from doEvent().
static Sketch< usint >	sketchFromDepth ()
	Import the current depth image as a Sketch<usint>. Must be called from doEvent().
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 void	refreshSketchWorld ()
static void	refreshSketchLocal ()
static void	refreshSketchCamera ()
static void	autoRefreshSketchWorld ()
static void	autoRefreshSketchLocal ()
static void	autoRefreshSketchCamera ()
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 bool	isWalkingFlag = false
static bool	autoRefreshWorldAllowed = true
static bool	autoRefreshLocalAllowed = true
static bool	autoRefreshCameraAllowed = true
static Point	robotObstaclesPt = Point(0, 0, 0, allocentric)
	Used by ShapeSpacePlannerBase::addRobotObstacles to display robot body obstacles at correct point in worldShS.
static AngTwoPi	robotObstaclesOri = 0
	Used by ShapeSpacePlannerBase::addRobotObstacles to display robot body obstacles at correct orientation in worldShS.
static std::vector< ShapeRoot >	drawShapes
	Vector of shapes to be drawn into the RawCam image.
static VisualOdometry *	imageOdometry = NULL
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 99 of file VRmixin.cc.

~VRmixin ( void ) [virtual]

Destructor.

Definition at line 154 of file VRmixin.cc.

VRmixin ( const VRmixin & ) [private]

never call this

Member Function Documentation

void autoRefreshSketchCamera ( ) [static]

Definition at line 299 of file VRmixin.cc.

void autoRefreshSketchLocal ( ) [static]

Definition at line 294 of file VRmixin.cc.

void autoRefreshSketchWorld ( ) [static]

Definition at line 289 of file VRmixin.cc.

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

Called whenever data is received on camDialogSocket.

Definition at line 304 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 322 of file VRmixin.cc.

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

bool encodeSketch ( const SketchDataRoot & image ) [static]

Definition at line 342 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]`

Import blobs from the current region list as a vector of Shape<BlobData>

Import the results of the region generator as a vector of Shape<BlobData>

Definition at line 436 of file VRmixin.cc.

SketchSpace & getCamSkS ( ) [static]

returns reference to the global space instances, call there from global constructors instead of accessing camSkS, which might not be initialized yet

Definition at line 44 of file VRmixin.cc.

Referenced by VRmixin::getGroundShS().

ShapeSpace & getGroundShS ( ) [static]

Definition at line 53 of file VRmixin.cc.

SketchSpace & getLocalSkS ( ) [static]

Definition at line 47 of file VRmixin.cc.

SketchSpace & getWorldSkS ( ) [static]

Definition at line 50 of file VRmixin.cc.

static bool isWalking ( ) [static]

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

Called whenever data is received on localDialogSocket.

Definition at line 310 of file VRmixin.cc.

Referenced by VRmixin::VRmixin().

VRmixin& operator= ( const VRmixin & ) [private]

never call this

void processSketchRequest	(	const std::string &	line,
		SketchSpace &	sketches,
		ShapeSpace &	shapes
	)			`[static]`

processes a single line of input for a Sketch request

Definition at line 457 of file VRmixin.cc.

Referenced by VRmixin::dialogCallback().

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

Definition at line 266 of file VRmixin.cc.

void projectToGround ( const fmat::Transform & camToBase ) [static]

Project shapes from cam space to ground space, will assume Kinematics::calculateGroundPlane() if plane is not specified.

Definition at line 262 of file VRmixin.cc.

void projectToGround ( ) [static]

Project shapes from cam space to ground space, uses CameraFrameOffset and Kinematics::calculateGroundPlane().

Definition at line 257 of file VRmixin.cc.

Referenced by VRmixin::projectToGround().

void refreshSketchCamera ( ) [static]

Definition at line 284 of file VRmixin.cc.

Referenced by VRmixin::autoRefreshSketchCamera().

void refreshSketchLocal ( ) [static]

Definition at line 279 of file VRmixin.cc.

Referenced by VRmixin::autoRefreshSketchLocal().

void refreshSketchWorld ( ) [static]

Definition at line 274 of file VRmixin.cc.

Referenced by VRmixin::autoRefreshSketchWorld().

void requireCrew ( const std::string & memberName ) [static]

checks to make sure Crew is instantiated

Definition at line 250 of file VRmixin.cc.

Sketch< uchar > sketchFromChannel ( const RawCameraGenerator::channel_id_t chan ) [static]

Import channel n image as a Sketch<uchar>. Must be called from doEvent().

Import channel n as a Sketch<uchar>

Definition at line 364 of file VRmixin.cc.

Referenced by VRmixin::sketchFromRawY().

Sketch< usint > sketchFromDepth ( ) [static]

Import the current depth image as a Sketch<usint>. Must be called from doEvent().

Definition at line 390 of file VRmixin.cc.

Sketch< uchar > sketchFromRawY ( ) [static]

Import the current y-channel camera image as a Sketch<uchar>a. Must be called from doEvent().

Definition at line 386 of file VRmixin.cc.

Sketch< uchar > sketchFromSeg ( ) [static]

Import the current color-segmented camera image as a Sketch<uchar>. Must be called from doEvent().

Import a color-segmented image as a Sketch<uchar>

Definition at line 354 of file VRmixin.cc.

Referenced by TargetData::extractLineTarget().

Sketch< yuv > sketchFromYUV ( ) [static]

Import the current camera image as a Sketch<yuv>. Must be called from doEvent().

Definition at line 407 of file VRmixin.cc.

void startCrew ( ) [static]

starts map builders, pilot, and lookout

Definition at line 202 of file VRmixin.cc.

Referenced by VisualRoutinesStateNode::start(), and VisualRoutinesBehavior::start().

void stopCrew ( ) [static]

stops map builders, pilot, and lookout

Definition at line 230 of file VRmixin.cc.

Referenced by VisualRoutinesStateNode::stop(), and VisualRoutinesBehavior::stop().

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

Called whenever data is received on worldDialogSocket.

Definition at line 316 of file VRmixin.cc.

Referenced by VRmixin::VRmixin().

Member Data Documentation

bool autoRefreshCameraAllowed = true [static]

Definition at line 135 of file VRmixin.h.

Referenced by VRmixin::autoRefreshSketchCamera().

bool autoRefreshLocalAllowed = true [static]

Definition at line 134 of file VRmixin.h.

Referenced by VRmixin::autoRefreshSketchLocal().

bool autoRefreshWorldAllowed = true [static]

Definition at line 133 of file VRmixin.h.

Referenced by VRmixin::autoRefreshSketchWorld().

Socket * camDialogSock = NULL [static, private]

socket to talk with cam-space sketch viewer

Definition at line 74 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

ShapeSpace & camShS = VRmixin::getCamSkS().getDualSpace() [static]

The camera shape space.

Definition at line 50 of file VRmixin.h.

Referenced by VRmixin::camDialogSockCallback(), AgentData::extractAgents(), BiColorMarkerData::extractMarkers(), AgentData::findCirclesManual(), VRmixin::getBlobsFromRegionGenerator(), VRmixin::projectToGround(), VRmixin::startCrew(), and VRmixin::~VRmixin().

Socket * camSketchSock = NULL [static, private]

socket for transmitting sketch images to cam-space sketch viewer

Definition at line 75 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

SketchSpace & camSkS = VRmixin::getCamSkS() [static]

The camera sketch space.

Definition at line 49 of file VRmixin.h.

Referenced by VRmixin::camDialogSockCallback(), SkeletonData::projectToGround(), Point::projectToGround(), MarkerData::projectToGround(), AprilTagData::projectToGround(), VRmixin::sketchFromChannel(), VRmixin::sketchFromDepth(), VRmixin::sketchFromSeg(), VRmixin::sketchFromYUV(), VRmixin::VRmixin(), and VRmixin::~VRmixin().

unsigned int crewCount = 0 [static, protected]

count of "crew" (pilot, lookout, map builders) users -- stop these when no one is using them

Definition at line 40 of file VRmixin.h.

Referenced by VRmixin::requireCrew(), VRmixin::startCrew(), and VRmixin::stopCrew().

std::vector< ShapeRoot > drawShapes [static]

Vector of shapes to be drawn into the RawCam image.

Definition at line 149 of file VRmixin.h.

Referenced by VRmixin::~VRmixin().

Grasper * grasper = NULL [static]

Definition at line 67 of file VRmixin.h.

Referenced by VRmixin::startCrew(), and VRmixin::stopCrew().

ShapeSpace & groundShS = VRmixin::getGroundShS() [static]

The ground shape space of MapBuilder (MapBuilder::groundShS).

Definition at line 52 of file VRmixin.h.

Referenced by VRmixin::projectToGround().

VisualOdometry * imageOdometry = NULL [static]

Definition at line 151 of file VRmixin.h.

Referenced by VRmixin::stopCrew().

unsigned int instanceCount = 0 [static, protected]

count of VRmixin instances -- when this hits zero, free sketch spaces

Definition at line 39 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

bool isWalkingFlag = false [static]

Definition at line 71 of file VRmixin.h.

Socket * localDialogSock = NULL [static, private]

socket to talk with local-space sketch viewer

Definition at line 76 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

ShapeSpace & localShS = VRmixin::getLocalSkS().getDualSpace() [static]

The localmap shape space (LocalMapBuilder::localShS).

Definition at line 55 of file VRmixin.h.

Referenced by AgentData::findAgentsBelt(), VRmixin::localDialogSockCallback(), VRmixin::startCrew(), and VRmixin::~VRmixin().

Socket * localSketchSock = NULL [static, private]

socket for transmitting sketch images to local-space sketch viewer

Definition at line 77 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

SketchSpace & localSkS = VRmixin::getLocalSkS() [static]

The localmap sketch space (LocalMapBuilder::localSkS).

Definition at line 54 of file VRmixin.h.

Referenced by VRmixin::localDialogSockCallback(), VRmixin::VRmixin(), and VRmixin::~VRmixin().

Lookout * lookout = NULL [static]

the global Lookout instance

Definition at line 62 of file VRmixin.h.

Referenced by VRmixin::startCrew(), and VRmixin::stopCrew().

MapBuilder * mapBuilder = NULL [static]

the global world mapbuilder instance

Definition at line 61 of file VRmixin.h.

Referenced by BiColorMarkerData::extractMarkers(), LineData::isAdmissible(), EllipseData::isAdmissible(), VRmixin::startCrew(), VRmixin::stopCrew(), and VRmixin::VRmixin().

ShapeBasedParticleFilter * particleFilter = NULL [static]

the global particle filter instance

Definition at line 70 of file VRmixin.h.

Referenced by VRmixin::startCrew(), and VRmixin::stopCrew().

AngTwoPi robotObstaclesOri = 0 [static]

Used by ShapeSpacePlannerBase::addRobotObstacles to display robot body obstacles at correct orientation in worldShS.

Definition at line 147 of file VRmixin.h.

Point robotObstaclesPt = Point(0, 0, 0, allocentric) [static]

Used by ShapeSpacePlannerBase::addRobotObstacles to display robot body obstacles at correct point in worldShS.

Definition at line 144 of file VRmixin.h.

Shape< AgentData > theAgent [static]

The robot (usually lives in worldShS).

Definition at line 59 of file VRmixin.h.

Referenced by ShapeSpace::clear(), AgentData::findAgentsBelt(), Point::isLeftOf(), VRmixin::VRmixin(), and VRmixin::~VRmixin().

VRmixin * theOne = NULL [static, private]

used so static member functions can access non-static members; works because there will always be a unique instance of VRmixin

Definition at line 155 of file VRmixin.h.

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

Socket * worldDialogSock = NULL [static, private]

socket to talk with world-space sketch viewer

Definition at line 78 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

ShapeSpace & worldShS = VRmixin::getWorldSkS().getDualSpace() [static]

The worldmap sketch space (WorldMapBuilder::localShS).

Definition at line 58 of file VRmixin.h.

Referenced by ShapeSpace::clear(), VRmixin::startCrew(), VRmixin::VRmixin(), VRmixin::worldDialogSockCallback(), and VRmixin::~VRmixin().

Socket * worldSketchSock = NULL [static, private]

socket for transmitting sketch images to world-space sketch viewer

Definition at line 79 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), and VRmixin::~VRmixin().

SketchSpace & worldSkS = VRmixin::getWorldSkS() [static]

The worldmap sketch space (WorldMapBuilder::localSkS).

Definition at line 57 of file VRmixin.h.

Referenced by VRmixin::VRmixin(), VRmixin::worldDialogSockCallback(), and VRmixin::~VRmixin().

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

VRmixin Class Reference

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Static Protected Attributes

Private Member Functions

Static Private Member Functions

Static Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation