jafar::p3d::P3D_MAP Class Reference

P3D_MAP is a class which represents an internal map It really is close from a DTM, but it contains only local informations. More...

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Detailed Description

P3D_MAP is a class which represents an internal map It really is close from a DTM, but it contains only local informations.

Definition at line 20 of file P3D_MAP.hpp.

#include <P3D_MAP.hpp>

List of all members.

Public Member Functions
	P3D_MAP ()
	A Dummy constructor.
	P3D_MAP (int lines, int column)
	A less dummy constructor.
	P3D_MAP (jafar::dtm::Dtm &dtm, jafar::geom::T3D &m2o, int nb_l, int nb_c)
	An intelligent constructor.
	~P3D_MAP ()
	The destructor.
::P3D_MAP *	get_data () const
	the method get_data returns the internal p3d_map.
void	set_data (int line, int column)
	the method set_data changes the bounds of the map (aka _nb_lines and _nb_cols.
void	update_map (jafar::dtm::Dtm &dtm, jafar::geom::T3D &m2o)
	the method update_map modifies the map.
std::string	gdhe_display () const
	the methood gdhe_display returns a gdhe representation of the bounds of the map.
void	dump (const std::string &path) const
	the method dump dumps the content of the map into a file (for debug).
void	from_file (const std::string &file)
	the method from_file is the dual of the dump method, it computes the P3D_MAP described by the file.
void	to_gdhe (const std::string &file) const
	the method to_gdhe generate a gdhe representation of the p3d map, which can be loaded in gdhe to display the current model of p3d
Private Member Functions
void	clear_data ()
void	_update_map (jafar::dtm::Dtm &, jafar::geom::T3D &)
Private Attributes
::P3D_MAP *	_pdata
	internal calife struct
int	_nb_lines
	number of line stored in the map
int	_nb_cols
	number of column stored in the map

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Constructor & Destructor Documentation

jafar::p3d::P3D_MAP::P3D_MAP

(

)

A Dummy constructor.

Returns:

a valid objet but empty

jafar::p3d::P3D_MAP::P3D_MAP	(	int	lines,
		int	column
	)

A less dummy constructor.

Parameters:

lines	represents the number of lines stored in the map
lines	represents the numbers of columns stored in the map

Returns:

a valid object

jafar::p3d::P3D_MAP::P3D_MAP	(	jafar::dtm::Dtm &	dtm,
		jafar::geom::T3D &	m2o,
		int	nb_l,
		int	nb_c
	)

An intelligent constructor.

Parameters:

dtm	represents the dtm base for the p3d map
m2o	represents the transformation between the global frame and the robot frame
nb_l	represents the number of lines stored in the map
nb_c	represents the number of columns stored in the map

Returns:

a valid object

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Member Function Documentation

void jafar::p3d::P3D_MAP::dump

(

const std::string &

path

)

const

the method dump dumps the content of the map into a file (for debug).

Parameters:

path	represents the file path where you want to dump the map

Returns:

Nothing.

the dump file is written

void jafar::p3d::P3D_MAP::from_file

(

const std::string &

file

)

the method from_file is the dual of the dump method, it computes the P3D_MAP described by the file.

Parameters:

path	represents the file path you want to read

Returns:

Nothing

the P3D_MAP is modified

std::string jafar::p3d::P3D_MAP::gdhe_display

(

)

const

the methood gdhe_display returns a gdhe representation of the bounds of the map.

Returns:

a gdhe representation of the bounds of the map (currently, a polyline).

::P3D_MAP* jafar::p3d::P3D_MAP::get_data

(

)

const

the method get_data returns the internal p3d_map.

It is used to speak with calife function.

Returns:

_pdata

void jafar::p3d::P3D_MAP::set_data	(	int	line,
		int	column
	)

the method set_data changes the bounds of the map (aka _nb_lines and _nb_cols.

As side effect, the map is emptied.

Parameters:

line	represents the number of lines which will be stored in the maps.
column	represents the number of column which will be stored in the maps.

Returns:

Nothing.

_nb_lines and _nb_cols are modified

_pdata is modified and emptied

void jafar::p3d::P3D_MAP::to_gdhe

(

const std::string &

file

)

const

the method to_gdhe generate a gdhe representation of the p3d map, which can be loaded in gdhe to display the current model of p3d

Parameters:

path	represents the file path where you want to store the gdhe representation

Returns:

Nothing

the file path is modified and contains the gdhe representation

void jafar::p3d::P3D_MAP::update_map	(	jafar::dtm::Dtm &	dtm,
		jafar::geom::T3D &	m2o
	)

the method update_map modifies the map.

after update_map, the map represents the datas around the current position of the robot.

Parameters:

dtm	represents the dtm base for the p3d map
m2o	represents the transformation between the global frame and the robot frame

Returns:

Nothing.

_pdata is modified.

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

• modules/p3d/include/p3d/P3D_MAP.hpp