DualCoding: VRmixin Class Reference

Definition at line 33 of file VRmixin.h.


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 MapBuilder &	getMapBuilder ()
	returns reference to the global WorldMapBuilder instance, call this from global constructors instead of accessing worldmap or localmap, which might not be initialized yet
static void	startCrew ()
	starts map builders, pilot, and lookout
static void	stopCrew ()
	stops map builders, pilot, and lookout
static bool	rleEncodeSketch (const SketchDataRoot &image)
static Sketch< uchar >	sketchFromSeg ()
	Import a color-segmented image as a Sketch<uchar>.
static Sketch< uchar >	sketchFromChannel (RawCameraGenerator::channel_id_t chan)
	Import channel n as a Sketch<uchar>.
static Sketch< uchar >	sketchFromRawY ()
	Import the current y-channel camera image as a Sketch<uchar>.
static std::vector< Shape< BlobData > >	getBlobsFromRegionGenerator (int color, int minarea=0, BlobData::BlobOrientation_t orient=BlobData::groundplane, int maxblobs=50)
	Import the results of the region generator 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 (const NEWMAT::Matrix &camToBase=kine->jointToBase(CameraFrameOffset), const NEWMAT::ColumnVector &ground_plane=kine->calculateGroundPlane())
	project shapes from cam space to ground space
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 = VRmixin::getMapBuilder()
	the global world mapbuilder instance
static Pilot	pilot
	the global Pilot instance
static Lookout	lookout
	the global Lookout instance
static ParticleFilter	filter
	particle filter for localization
Static Protected Attributes
static unsigned int	instanceCount = 0
	count of NewVRmixin 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 *	camRleSock = NULL
	socket for transmitting RLE images to cam-space sketch viewer
static Socket *	localDialogSock = NULL
	socket to talk with local-space sketch viewer
static Socket *	localRleSock = NULL
	socket for transmitting RLE images to local-space sketch viewer
static Socket *	worldDialogSock = NULL
	socket to talk with world-space sketch viewer
static Socket *	worldRleSock = NULL
	socket for transmitting RLE images to world-space sketch viewer
static VRmixin *	theOne = NULL
	used so static member functions can access non-static members

Constructor & Destructor Documentation

VRmixin ( )

Constructor.

Definition at line 82 of file VRmixin.cc.

~VRmixin ( void ) [virtual]

Destructor.

Definition at line 135 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 210 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 228 of file VRmixin.cc.

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

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

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

Definition at line 301 of file VRmixin.cc.

Referenced by MapBuilder::getCamBlobs().

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 34 of file VRmixin.cc.

Referenced by VRmixin::getGroundShS().

ShapeSpace & getGroundShS ( ) [static]

Definition at line 43 of file VRmixin.cc.

SketchSpace & getLocalSkS ( ) [static]

Definition at line 37 of file VRmixin.cc.

MapBuilder & getMapBuilder ( ) [static]

returns reference to the global WorldMapBuilder instance, call this from global constructors instead of accessing worldmap or localmap, which might not be initialized yet

Definition at line 48 of file VRmixin.cc.

SketchSpace & getWorldSkS ( ) [static]

Definition at line 40 of file VRmixin.cc.

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

Called whenever data is received on localDialogSocket.

Definition at line 216 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 319 of file VRmixin.cc.

Referenced by VRmixin::dialogCallback().

void projectToGround	(	const NEWMAT::Matrix &	camToBase = `kine->jointToBase(CameraFrameOffset)`,
		const NEWMAT::ColumnVector &	ground_plane = `kine->calculateGroundPlane()`
	)			`[static]`