A container for sensor information. More...

#include <Sensor.h>

Public Member Functions
	Sensor ()
	Constructor. More...

	Sensor (const std::string &name, madara::knowledge::KnowledgeBase *knowledge, const double &range=0.0, const pose::Position &origin=pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX))
	Constructor. More...

	~Sensor ()
	Destructor. More...

set< pose::Position >	discretize (const pose::Region &region)
	Discretize a search area into index positions inside search area. More...

set< pose::Position >	discretize (const pose::SearchArea &area)
	Discretize a search area into index positions inside search area. More...

double	get_discretization () const
	Get the length of the side of each discretized cell. More...

pose::Position	get_gps_from_index (const pose::Position &index)
	Gets GPS position from index position. More...

pose::Position	get_index_from_gps (const pose::Position &pos)
	Gets current location on sensor map. More...

std::string	get_name () const
	Gets name. More...

pose::Position	get_origin ()
	Gets origin. More...

double	get_range () const
	Gets range in meters. More...

double	get_value (const pose::Position &pos)
	Gets value at location. More...

void	init_vars (const std::string &name, madara::knowledge::KnowledgeBase *knowledge, const double &range=0.0, const pose::Position &origin=pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX))
	Initializes the variables. More...

void	operator= (const Sensor &rhs)
	Assignment operator. More...

void	set_origin (const pose::Position &origin)
	Sets origin. More...

void	set_range (const double &range)
	Sets range in meters. More...

void	set_value (const pose::Position &pos, const double &val, const madara::knowledge::KnowledgeUpdateSettings &settings=madara::knowledge::KnowledgeUpdateSettings())
	Sets value at a point with position. More...

Protected Member Functions
std::string	index_pos_to_index (const pose::Position &pos) const
	Convert index position to string index. More...

void	init_vars ()
	Initialize madara containers. More...

void	regenerate_local_frame (void)

Protected Attributes
madara::knowledge::KnowledgeBase *	knowledge_
	knowledge base More...

pose::ReferenceFrame	local_frame_
	local cartesian frame More...

std::string	name_
	name of the sensor More...

madara::knowledge::containers::NativeDoubleArray	origin_
	origin for index calculations More...

madara::knowledge::containers::Double	range_
	the range of the sensor, determines discretization More...

madara::knowledge::containers::Map	value_
	the map of locations to sensor value More...

Detailed Description

A container for sensor information.

Definition at line 80 of file Sensor.h.

Constructor & Destructor Documentation

◆ Sensor() [1/2]

gams::variables::Sensor::Sensor ( )

Constructor.

◆ Sensor() [2/2]

gams::variables::Sensor::Sensor	(	const std::string &	name,
		madara::knowledge::KnowledgeBase *	knowledge,
		const double &	range = `0.0`,
		const pose::Position &	origin = `pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX)`
	)

Constructor.

◆ ~Sensor()

gams::variables::Sensor::~Sensor ( )

Destructor.

Member Function Documentation

◆ discretize() [1/2]

set<pose::Position> gams::variables::Sensor::discretize ( const pose::Region & region )

Discretize a search area into index positions inside search area.

Parameters

region region to discretize

Returns: set of index positions considered inside search area

◆ discretize() [2/2]

set<pose::Position> gams::variables::Sensor::discretize ( const pose::SearchArea & area )

Discretize a search area into index positions inside search area.

Parameters

area	area to discretize

Returns: set of index positions considered inside search area

◆ get_discretization()

double gams::variables::Sensor::get_discretization ( ) const

Get the length of the side of each discretized cell.

Returns: discretization value

◆ get_gps_from_index()

pose::Position gams::variables::Sensor::get_gps_from_index ( const pose::Position & index )

Gets GPS position from index position.

Parameters

index index location in cartesian location on sensor map

Returns: GPSPosition of index position

◆ get_index_from_gps()

pose::Position gams::variables::Sensor::get_index_from_gps ( const pose::Position & pos )

Gets current location on sensor map.

Parameters

pos	current GPS location

Returns: current location in cartesian location on sensor map

◆ get_name()

std::string gams::variables::Sensor::get_name ( ) const

Gets name.

Returns: name of sensor

◆ get_origin()

pose::Position gams::variables::Sensor::get_origin ( )

Gets origin.

Returns: GPS origin

◆ get_range()

double gams::variables::Sensor::get_range ( ) const

Gets range in meters.

Returns: sensor range

◆ get_value()

double gams::variables::Sensor::get_value ( const pose::Position & pos )

Gets value at location.

Parameters

pos	position to get

Returns: sensor value at pos

◆ index_pos_to_index()

std::string gams::variables::Sensor::index_pos_to_index ( const pose::Position & pos ) const

protected

Convert index position to string index.

Parameters

pos	gps position

Returns: string index into map

◆ init_vars() [1/2]

void gams::variables::Sensor::init_vars ( )

protected

Initialize madara containers.

◆ init_vars() [2/2]

void gams::variables::Sensor::init_vars	(	const std::string &	name,
		madara::knowledge::KnowledgeBase *	knowledge,
		const double &	range = `0.0`,
		const pose::Position &	origin = `pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX)`
	)

Initializes the variables.

Parameters

name	name of the sensor
knowledge	the knowledge base
range	the range
origin	the GPS origin

◆ operator=()

void gams::variables::Sensor::operator= ( const Sensor & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ regenerate_local_frame()

void gams::variables::Sensor::regenerate_local_frame ( void )

protected

◆ set_origin()

void gams::variables::Sensor::set_origin ( const pose::Position & origin )

Sets origin.

Parameters

origin new origin

◆ set_range()

void gams::variables::Sensor::set_range ( const double & range )

Sets range in meters.

Parameters

range new range

◆ set_value()

void gams::variables::Sensor::set_value	(	const pose::Position &	pos,
		const double &	val,
		const madara::knowledge::KnowledgeUpdateSettings &	settings = `madara::knowledge::KnowledgeUpdateSettings()`
	)

Sets value at a point with position.

Parameters

pos	position to set
val	value to set at position
settings	settings to use for mutating value

Member Data Documentation

◆ knowledge_

madara::knowledge::KnowledgeBase* gams::variables::Sensor::knowledge_

protected

knowledge base

Definition at line 222 of file Sensor.h.

◆ local_frame_

pose::ReferenceFrame gams::variables::Sensor::local_frame_

protected

local cartesian frame

Definition at line 234 of file Sensor.h.

◆ name_

std::string gams::variables::Sensor::name_

protected

name of the sensor

Definition at line 228 of file Sensor.h.

◆ origin_

madara::knowledge::containers::NativeDoubleArray gams::variables::Sensor::origin_

protected

origin for index calculations

Definition at line 231 of file Sensor.h.

◆ range_

madara::knowledge::containers::Double gams::variables::Sensor::range_

protected

the range of the sensor, determines discretization

Definition at line 225 of file Sensor.h.

◆ value_

madara::knowledge::containers::Map gams::variables::Sensor::value_

protected

the map of locations to sensor value

Definition at line 219 of file Sensor.h.

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

src/gams/variables/Sensor.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Sensor() [1/2]

◆ Sensor() [2/2]

◆ ~Sensor()

Member Function Documentation

◆ discretize() [1/2]

◆ discretize() [2/2]

◆ get_discretization()

◆ get_gps_from_index()

◆ get_index_from_gps()

◆ get_name()

◆ get_origin()

◆ get_range()

◆ get_value()

◆ index_pos_to_index()

◆ init_vars() [1/2]

◆ init_vars() [2/2]

◆ operator=()

◆ regenerate_local_frame()

◆ set_origin()

◆ set_range()

◆ set_value()

Member Data Documentation

◆ knowledge_

◆ local_frame_

◆ name_

◆ origin_

◆ range_

◆ value_