/usr/include/Aria/ArRangeBuffer.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARRANGEBUFFER_H
#define ARRANGEBUFFER_H
#include "ariaUtil.h"
#include "ariaTypedefs.h"
#include "ArTransform.h"
#include <list>
#include <vector>
/// This class is a buffer that holds ranging information
class ArRangeBuffer
{
public:
/// Constructor
AREXPORT ArRangeBuffer(int size);
/// Destructor
AREXPORT virtual ~ArRangeBuffer();
/// Gets the size of the buffer
AREXPORT size_t getSize(void) const;
/// Sets the size of the buffer
AREXPORT void setSize(size_t size);
/// Gets the pose of the robot when readings were taken
AREXPORT ArPose getPoseTaken() const;
/// Sets the pose of the robot when readings were taken
AREXPORT void setPoseTaken(ArPose p);
/// Gets the encoder pose of the robot when readings were taken
AREXPORT ArPose getEncoderPoseTaken() const;
/// Sets the pose of the robot when readings were taken
AREXPORT void setEncoderPoseTaken(ArPose p);
/// Adds a new reading to the buffer
AREXPORT void addReading(double x, double y);
/// Adds a new reading to the buffer if some conditions are met
AREXPORT void addReadingConditional(double x, double y,
double closeDistSquared,
bool *wasAdded = NULL);
/// Begins a walk through the getBuffer list of readings
AREXPORT void beginInvalidationSweep(void);
/// While doing an invalidation sweep a reading to the list to be invalidated
AREXPORT void invalidateReading(std::list<ArPoseWithTime*>::iterator readingIt);
/// Ends the invalidation sweep
AREXPORT void endInvalidationSweep(void);
#ifndef SWIG
/** @brief Gets a pointer to a list of readings
* @swigomit
*/
AREXPORT const std::list<ArPoseWithTime *> *getBuffer(void) const;
#endif
/// Gets a pointer to a list of readings
AREXPORT std::list<ArPoseWithTime *> *getBuffer(void);
/// Gets the closest reading, on a polar system
AREXPORT double getClosestPolar(double startAngle, double endAngle,
ArPose position, unsigned int maxRange,
double *angle = NULL) const;
/// Gets the closest reading, from a rectangular box, in robot LOCAL coords
AREXPORT double getClosestBox(double x1, double y1, double x2, double y2,
ArPose position, unsigned int maxRange,
ArPose *readingPos = NULL,
ArPose targetPose = ArPose(0, 0, 0)) const;
/// Applies a transform to the buffer
AREXPORT void applyTransform(ArTransform trans);
/// Clears all the readings in the range buffer
AREXPORT void clear(void);
/// Resets the readings older than this many seconds
AREXPORT void clearOlderThan(int milliSeconds);
/// Resets the readings older than this many seconds
AREXPORT void clearOlderThanSeconds(int seconds);
/// same as clear, but old name
AREXPORT void reset(void);
/// This begins a redoing of the buffer
AREXPORT void beginRedoBuffer(void);
/// Add a reading to the redoing of the buffer
AREXPORT void redoReading(double x, double y);
/// End redoing the buffer
AREXPORT void endRedoBuffer(void);
/// Gets the buffer as an array instead of as a std::list
AREXPORT std::vector<ArPoseWithTime> *getBufferAsVector(void);
/// Gets the closest reading, from an arbitrary buffer
AREXPORT static double getClosestPolarInList(
double startAngle, double endAngle, ArPose position,
unsigned int maxRange, double *angle,
const std::list<ArPoseWithTime *> *buffer);
/// Gets the closest reading, from an arbitrary buffer
AREXPORT static double getClosestBoxInList(
double x1, double y1, double x2, double y2, ArPose position,
unsigned int maxRange, ArPose *readingPos,
ArPose targetPose, const std::list<ArPoseWithTime *> *buffer);
protected:
std::vector<ArPoseWithTime> myVector;
ArPose myBufferPose; // where the robot was when readings were acquired
ArPose myEncoderBufferPose; // where the robot was when readings were acquired
std::list<ArPoseWithTime *> myBuffer;
std::list<ArPoseWithTime *> myInvalidBuffer;
std::list<std::list<ArPoseWithTime *>::iterator > myInvalidSweepList;
std::list<std::list<ArPoseWithTime *>::iterator >::iterator myInvalidIt;
std::list<ArPoseWithTime *>::iterator myRedoIt;
int myNumRedone;
bool myHitEnd;
size_t mySize;
std::list<ArPoseWithTime *>::reverse_iterator myRevIterator;
std::list<ArPoseWithTime *>::iterator myIterator;
ArPoseWithTime * myReading;
};
#endif // ARRANGEBUFFER_H
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