/usr/include/Aria/ArInterpolation.h is in libaria-dev 2.8.0+repack-1ubuntu1.
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 | /*
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 ARINTERPOLATION_H
#define ARINTERPOLATION_H
#include "ariaTypedefs.h"
#include "ariaUtil.h"
/**
This class takes care of storing in readings of position vs time, and then
interpolating between them to find where the robot was at a particular
point in time. It has two lists, one containing the times, and one
containing the positions at those same times (per position), they must be
walked through jointly to maintain cohesion. The new entries are at the
front of the list, while the old ones are at the back.
numberOfReadings and the setNumberOfReadings control the number of entries
in the list. If a size is set that is smaller than the current size, then
the old ones are chopped off.
This class now has a couple of variables for when it allows
prediction, they're set with setAllowedMSForPrediction and
setAllowedPercentageForPrediction. If either is below 0 than they
are ignored (if both are below 0 it means any prediction is
allowed, which would be bad). Previous there was no MS limit, and
the percentage limit was 50 (and so that is what the default is
now).
**/
class ArInterpolation
{
public:
/// Constructor
AREXPORT ArInterpolation(size_t numberOfReadings = 100);
/// Destructor
AREXPORT virtual ~ArInterpolation();
/// Adds a new reading
AREXPORT bool addReading(ArTime timeOfReading, ArPose position);
/// Finds a position
AREXPORT int getPose(ArTime timeStamp, ArPose *position,
ArPoseWithTime *lastData = NULL);
/// Sets the name
AREXPORT void setName(const char *name);
/// Gets the name
AREXPORT const char *getName(void);
/// Sets the allowed milliseconds for prediction
AREXPORT void setAllowedMSForPrediction(int ms = -1);
/// Sets the allowed milliseconds for prediction
AREXPORT int getAllowedMSForPrediction(void);
/// Sets the allowed percentage for prediction
AREXPORT void setAllowedPercentageForPrediction(int percentage = 5000);
/// Sets the allowed milliseconds for prediction
AREXPORT int getAllowedPercentageForPrediction(void);
/// Sets if we should log events for this interpolation
AREXPORT void setLogPrediction(bool logPrediction = false);
/// Gets if we should log events for this interpolation
AREXPORT bool getLogPrediction(void);
/// Sets the number of readings this instance holds back in time
AREXPORT void setNumberOfReadings(size_t numberOfReadings);
/// Gets the number of readings this instance holds back in time
AREXPORT size_t getNumberOfReadings(void) const;
/// Empties the interpolated positions
AREXPORT void reset(void);
protected:
ArMutex myDataMutex;
std::string myName;
std::list<ArTime> myTimes;
std::list<ArPose> myPoses;
size_t mySize;
bool myLogPrediction;
int myAllowedMSForPrediction;
int myAllowedPercentageForPrediction;
};
#endif
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