The map data related to the sensable obstacles in the environment. More...

#include <ArMapComponents.h>

Public Member Functions
virtual bool	addExtraToFileParser (ArFileParser *fileParser, bool isAddLineHandler)
	Adds the handlers for the data points and lines keywords to the given file parser. More...

virtual bool	addToFileParser (ArFileParser *fileParser)

	ArMapScan (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)
	Constructor. More...

	ArMapScan (const ArMapScan &other)
	Copy constructor.

virtual void	clear ()
	Resets the scan data, clearing all points and line segments.

virtual const char *	getDisplayString (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArPose	getLineMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArPose	getLineMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual std::vector< ArLineSegment > *	getLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual const char *	getLinesKeyword () const
	Returns the keyword that designates the scan's data lines in the map file.

virtual ArPose	getMaxPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual ArPose	getMinPose (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual int	getNumLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual int	getNumPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual std::vector< ArPose > *	getPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual const char *	getPointsKeyword () const
	Returns the keyword that designates the scan's data points in the map file.

virtual int	getResolution (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual const char *	getScanType () const
	Returns the unique string identifier of the associated scan type.

virtual ArTime	getTimeChanged () const
	Returns the time at which the scan data was last changed.

virtual bool	isSortedLines (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const

virtual bool	isSortedPoints (const char *scanType=ARMAP_DEFAULT_SCAN_TYPE) const

virtual void	loadDataPoint (double x, double y)

virtual void	loadLineSegment (double x1, double y1, double x2, double y2)

ArMapScan &	operator= (const ArMapScan &other)
	Assignment operator.

virtual bool	readDataPoint (char *line)

virtual bool	readLineSegment (char *line)

virtual bool	remExtraFromFileParser (ArFileParser *fileParser)
	Removes the handlers for the data points and lines keywords from the given file parser.

virtual bool	remFromFileParser (ArFileParser *fileParser)

virtual void	setLines (const std::vector< ArLineSegment > lines, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedLines=false, ArMapChangeDetails *changeDetails=NULL)

virtual void	setPoints (const std::vector< ArPose > points, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, bool isSortedPoints=false, ArMapChangeDetails *changeDetails=NULL)

virtual void	setResolution (int resolution, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArMapChangeDetails changeDetails=NULL)

virtual bool	unite (ArMapScan *other, bool isIncludeDataPointsAndLines=false)
	Combines the given other scan with this one. More...

virtual void	writeLinesToFunctor (ArFunctor2< int, std::vector< ArLineSegment > > functor, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char > *keywordFunctor=NULL)

virtual void	writeLinesToFunctor (ArFunctor1< const char > functor, const char endOfLineChars, const char scanType=ARMAP_DEFAULT_SCAN_TYPE)
	Writes the scan's data lines (and introductory keyword) to the given functor.

virtual void	writePointsToFunctor (ArFunctor2< int, std::vector< ArPose > > functor, const char scanType=ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1< const char > *keywordFunctor=NULL)

virtual void	writePointsToFunctor (ArFunctor1< const char > functor, const char endOfLineChars, const char scanType=ARMAP_DEFAULT_SCAN_TYPE)
	Writes the scan's data points (and introductory keyword) to the given functor.

virtual void	writeScanToFunctor (ArFunctor1< const char > functor, const char endOfLineChars, const char scanType=ARMAP_DEFAULT_SCAN_TYPE)

virtual	~ArMapScan ()
	Destructor.

Public Member Functions inherited from ArMapScanInterface
	ArMapScanInterface ()
	Default constructor.

virtual	~ArMapScanInterface ()
	Destructor.

Protected Member Functions
bool	addHandlerToFileParser (ArFileParser fileParser, const char keyword, ArRetFunctor1< bool, ArArgumentBuilder > handler)
	Adds the specified argument handler to the given file parser.

const char *	getKeywordPrefix () const
	Returns the keyword prefix for this scan type.

bool	handleDisplayString (ArArgumentBuilder *arg)
	Callback to handle the Display string.

bool	handleIsSortedLines (ArArgumentBuilder *arg)

bool	handleIsSortedPoints (ArArgumentBuilder *arg)

bool	handleLine (ArArgumentBuilder *arg)

bool	handleLineMaxPos (ArArgumentBuilder *arg)

bool	handleLineMinPos (ArArgumentBuilder *arg)

bool	handleMaxPos (ArArgumentBuilder *arg)

bool	handleMinPos (ArArgumentBuilder *arg)

bool	handleNumLines (ArArgumentBuilder *arg)

bool	handleNumPoints (ArArgumentBuilder *arg)

bool	handlePoint (ArArgumentBuilder *arg)

bool	handleResolution (ArArgumentBuilder *arg)

bool	parseNumber (char line, size_t lineLen, size_t charCountOut, int *numOut) const
	Parses an integer from the given text line.

bool	parsePose (ArArgumentBuilder arg, const char keyword, ArPose *poseOut)
	Parses a pose from the given arguments.

bool	parseWhitespace (char line, size_t lineLen, size_t charCountOut) const
	Parses whitespace from the given text line.

virtual void	writeLinesToFunctor (ArFunctor1< const char > functor, const std::vector< ArLineSegment > &lines, const char endOfLineChars, const char scanType=ARMAP_DEFAULT_SCAN_TYPE)
	Writes the list of data lines to the given functor. More...

Protected Attributes
std::string	myDisplayString
	Displayable text for this scan type.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myDisplayStringCB
	Callback to parse the displayable text for this scan type.

bool	myIsSortedLines
	Whether the data lines in myLines have been sorted in ascending order.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myIsSortedLinesCB
	Callback to parse whether the lines in the map file have been sorted.

bool	myIsSortedPoints
	Whether the data points in myPoints have been sorted in ascending order.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myIsSortedPointsCB
	Callback to parse whether the points in the map file have been sorted.

bool	myIsSummaryScan
	Whether this is a special summary of the other scans.

std::string	myKeywordPrefix
	The prefix prepended to the map file keywords (e.g. DATA and LINES)

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myLineCB
	Callback to parse a data line.

ArPose	myLineMax
	Maximum x/y values of all of the data lines in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myLineMaxPosCB
	Callback to parse the maximum line pose from the map file.

ArPose	myLineMin
	Minimum x/y values of all of the data lines in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myLineMinPosCB
	Callback to parse the minimum line pose from the map file.

std::vector< ArLineSegment >	myLines
	List of data lines contained in this scan data.

std::string	myLinesKeyword
	The keyword that designates this scan's data lines in the map file.

std::string	myLogPrefix
	The prefix prepended to the output log file messages.

ArPose	myMax
	Maximum x/y values of all of the data points in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myMaxPosCB
	Callback to parse the maximum pose from the map file.

ArPose	myMin
	Minimum x/y values of all of the data points in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myMinPosCB
	Callback to parse the minimum poise from the map file.

int	myNumLines
	Number of data lines in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myNumLinesCB
	Callback to parse the number of data lines in the map file.

int	myNumPoints
	Number of data points in the scan.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myNumPointsCB
	Callback to parse the number of data points in the map file.

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myPointCB
	Callback to parse a data point.

std::vector< ArPose >	myPoints
	List of data points contained in this scan data.

std::string	myPointsKeyword
	The keyword that designates this scan's data points in the map file.

int	myResolution
	Resolution of the data points (in mm).

ArRetFunctor1C< bool, ArMapScan, ArArgumentBuilder * >	myResolutionCB
	Callback to parse the resolution in the map file.

std::string	myScanType
	The unique string identifier of this scan type.

ArTime	myTimeChanged
	Time that this scan data was last modified.

Additional Inherited Members
Static Public Member Functions inherited from ArMapScanInterface
static bool	isDefaultScanType (const char *scanType)
	Determines whether the given scan type is the default (i.e. no prefix on the map tags)

static bool	isSummaryScanType (const char *scanType)
	Determines whether the given scan type represents the summary of all other scan types.

Detailed Description

The map data related to the sensable obstacles in the environment.

ArMapScan encapsulates the data for a particular sensor that is generated during the scanning process (i.e. during the creation of a .2d file). The class's primary attributes are the points and line segments that were detected during the scan. It contains methods to get and set these coordinates, and to read and write the data from and to a file.

The scanType parameters identify the sensor used for scanning. The parameter is used in the constructor, but it is generally disregarded in the other methods. (The method signatures are defined in ArMapScanInterface, which is also implemented by ArMap. The map provides access to the scan data for all of the sensors – and therefore uses the scanType parameters. This interface was chosen in order to maintain backwards compatibility with the original map.)

If the scanType is specified, then it is used as a prefix to the DATA and LINES tags that are contained in the map file.

Constructor & Destructor Documentation

◆ ArMapScan()

ArMapScan::ArMapScan ( const char * scanType = ARMAP_DEFAULT_SCAN_TYPE )

Constructor.

Creates a new map scan object for the specified scan type.

Parameters

scanType the const char * identifier of the scan; must be non-NULL and must not contain whitespaces

Member Function Documentation

◆ addExtraToFileParser()

bool ArMapScan::addExtraToFileParser	(	ArFileParser *	fileParser,
		bool	isAddLineHandler
	)

virtual

Adds the handlers for the data points and lines keywords to the given file parser.

These handlers are "extra" because they are added after all of the summary keyword have been parsed.

◆ unite()

bool ArMapScan::unite	(	ArMapScan *	other,
		bool	isIncludeDataPointsAndLines = `false`
	)

virtual

Combines the given other scan with this one.

Parameters

other	the ArMapScan * to be united with this one
isIncludeDataPointsAndLines	a bool set to true if the other scan's data points and lines should be copied to this scan; if false, then only the summary (bounding box, counts, etc) information is copied.

◆ writeLinesToFunctor()

void ArMapScan::writeLinesToFunctor	(	ArFunctor1< const char >	functor,
		const std::vector< ArLineSegment > &	lines,
		const char *	endOfLineChars,
		const char *	scanType = `ARMAP_DEFAULT_SCAN_TYPE`
	)

protectedvirtual

Writes the list of data lines to the given functor.

Parameters

functor	the ArFunctor1<const char > to which to write the data lines
lines	the vector of ArLineSegments to be written to the functor
endOfLineChars	an optional string to be appended to the end of each text line written to the functor
scanType	the unique string identifier of the scan type associated with the data lines

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

ArMapComponents.h
ArMapComponents.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ArMapScan()

Member Function Documentation

◆ addExtraToFileParser()

◆ unite()

◆ writeLinesToFunctor()