Lookout Class Reference

The Lookout accepts LookoutRequests to move the head and collect sensor information. More...

#include <Lookout.h>

Inheritance diagram for Lookout:

Detailed Description

The Lookout accepts LookoutRequests to move the head and collect sensor information.

HeadMotionType can be none (user will point the head himself), pointAt, scan, track, or search. The data collected can be an image or distance reading, or for scan operations, it can be a list of locations where certain VisionObject or VisionRegion streams reported hits.

Definition at line 25 of file Lookout.h.

List of all members.

Public Member Functions
	Lookout ()
	Constructor.
virtual void	doStart ()
virtual void	doStop ()
virtual void	doEvent ()
virtual std::string	getDescription () const
virtual unsigned int	executeRequest (const LookoutRequestBase &)
bool	busy ()
void	stopTrack ()
void	moveHeadToPoint ()
void	relax ()
	Inactivates all Lookout motion commands; called when MapBuilder finishes.
Static Public Member Functions
static std::string	getClassDescription ()
static std::vector < DualCoding::Point >	groundSearchPoints ()
	returns a vector of points for searching the ground around the robot
static Point	findLocationFor (const float normX, const float normY)
Static Public Attributes
static const unsigned int	invalid_LO_ID = (unsigned int)-1
Protected Types
enum	TrackerStates { inactive, moveToAcquire, tracking, searching, centering, lost }
enum	LookoutTimerSourceId_t { settle_timer = 1, sample_timer, lost_timer, scan_timer }
Protected Member Functions
virtual void	executeRequest ()
virtual void	requestComplete (bool result=true)
template<class T >
void	pushRequest (const LookoutRequestBase &req)


void	processPointAtEvent (const EventBase &event)
bool	findPixelModes ()


void	setupTrack ()
void	processTrackEvent (const EventBase &event)
Protected Attributes
std::vector< std::map< uchar, unsigned int > >	pixelHistograms
std::priority_queue< float >	distanceSamples
MC_ID	pointer_id
	id for HeadPointerMC for pointing the camera
MC_ID	posture_id
	id for PostureMC for pointing the IR sensors
MC_ID	sequence_id
	id for MotionSequenceMC for scanning
std::queue< LookoutRequestBase * >	requests
	queue of pending LookoutRequestBase instances, including the current request
LookoutRequestBase *	curReq
	pointer to request currently being executed
LookoutPointRequest *	curPAR
	current Point-At request (same object as curReq)
bool	successSave
enum DualCoding::Lookout::TrackerStates	trackerState
unsigned int	idCounter
Private Member Functions
Lookout &	operator= (const Lookout &)
	Lookout (const Lookout &)

void	setupScan ()
void	triggerScanMotionSequence ()
void	processScanEvent (const EventBase &event)
void	scanAlongLine (const Point &start, const Point &end)
void	scanAlongPolygon (const std::vector< Point > &vertices, const bool closed=false)
void	scanArea (const Point &topLeft, const Point &topRight, const Point &bottomLeft, const Point &bottomRight)
void	storeVisionRegionDataTo (std::vector< Point > &, const std::set< color_index > &, int)
static Point	findLocationFor (const VisionObjectEvent &visev)
static Point	findLocationFor (const CMVision::region *reg)

void	setupSearch ()
void	processSearchEvent (const EventBase &event)
void	triggerSearchMotionSequence ()
static void	searchAt (HeadPointerMC &hpmc_temp, std::vector< float > &jointvals, const Point &target)

Member Enumeration Documentation

enum LookoutTimerSourceId_t [protected]

Enumerator:

settle_timer
sample_timer
lost_timer
scan_timer

Definition at line 141 of file Lookout.h.

enum TrackerStates [protected]

Enumerator:

inactive
moveToAcquire
tracking
searching
centering
lost

Definition at line 131 of file Lookout.h.

Constructor & Destructor Documentation

Lookout ( )

Constructor.

Definition at line 31 of file Lookout.cc.

Lookout ( const Lookout & ) [private]

Member Function Documentation

bool busy ( )

Definition at line 38 of file Lookout.h.

void doEvent ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 208 of file Lookout.cc.

void doStart ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 41 of file Lookout.cc.

void doStop ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 57 of file Lookout.cc.

void executeRequest ( ) [protected, virtual]

Definition at line 117 of file Lookout.cc.

unsigned int executeRequest ( const LookoutRequestBase & req ) [virtual]

Definition at line 94 of file Lookout.cc.

Point findLocationFor ( const CMVision::region * reg ) [static, protected]

Definition at line 431 of file Lookout.cc.

static Point findLocationFor ( const VisionObjectEvent & visev ) [static, protected]

Definition at line 81 of file Lookout.h.

Point findLocationFor	(	const float	normX,
		const float	normY
	)			`[static]`

Definition at line 741 of file Lookout.cc.

bool findPixelModes ( ) [protected]

Definition at line 300 of file Lookout.cc.

static std::string getClassDescription ( ) [static]

Reimplemented from BehaviorBase.

Definition at line 34 of file Lookout.h.

virtual std::string getDescription ( ) const [virtual]

Reimplemented from BehaviorBase.

Definition at line 35 of file Lookout.h.

vector< DualCoding::Point > groundSearchPoints ( ) [static]

returns a vector of points for searching the ground around the robot

Definition at line 73 of file Lookout.cc.

void moveHeadToPoint ( )

Definition at line 171 of file Lookout.cc.

Lookout& operator= ( const Lookout & ) [private]

void processPointAtEvent ( const EventBase & event ) [protected]

Definition at line 241 of file Lookout.cc.

void processScanEvent ( const EventBase & event ) [protected]

Definition at line 465 of file Lookout.cc.

void processSearchEvent ( const EventBase & event ) [protected]

Definition at line 883 of file Lookout.cc.

void processTrackEvent ( const EventBase & event ) [protected]

Definition at line 686 of file Lookout.cc.

void pushRequest ( const LookoutRequestBase & req ) [protected]

Definition at line 56 of file Lookout.h.

void relax ( )

Inactivates all Lookout motion commands; called when MapBuilder finishes.

Definition at line 165 of file Lookout.cc.

void requestComplete ( bool result = true ) [protected, virtual]

Definition at line 345 of file Lookout.cc.

void scanAlongLine	(	const Point &	start,
		const Point &	end
	)			`[protected]`

Definition at line 576 of file Lookout.cc.

void scanAlongPolygon	(	const std::vector< Point > &	vertices,
		const bool	closed = `false`
	)			`[protected]`

Definition at line 617 of file Lookout.cc.

void scanArea	(	const Point &	topLeft,
		const Point &	topRight,
		const Point &	bottomLeft,
		const Point &	bottomRight
	)			`[protected]`

void searchAt	(	HeadPointerMC &	hpmc_temp,
		std::vector< float > &	jointvals,
		const Point &	target
	)			`[static, protected]`

Definition at line 980 of file Lookout.cc.

void setupScan ( ) [protected]

Definition at line 531 of file Lookout.cc.

void setupSearch ( ) [protected]

Definition at line 867 of file Lookout.cc.

void setupTrack ( ) [protected]

Definition at line 664 of file Lookout.cc.

void stopTrack ( )

Definition at line 736 of file Lookout.cc.

void storeVisionRegionDataTo	(	std::vector< Point > &	data,
		const std::set< color_index > &	colors,
		int	minArea
	)			`[protected]`

Definition at line 438 of file Lookout.cc.

void triggerScanMotionSequence ( ) [protected]

Definition at line 555 of file Lookout.cc.

void triggerSearchMotionSequence ( ) [protected]

Definition at line 944 of file Lookout.cc.

Member Data Documentation

LookoutPointRequest* curPAR [protected]

current Point-At request (same object as curReq)

Definition at line 128 of file Lookout.h.

LookoutRequestBase* curReq [protected]

pointer to request currently being executed

Definition at line 127 of file Lookout.h.

std::priority_queue<float> distanceSamples [protected]

Definition at line 121 of file Lookout.h.

unsigned int idCounter [protected]

Definition at line 139 of file Lookout.h.

const unsigned int invalid_LO_ID = (unsigned int)-1 [static]

Definition at line 49 of file Lookout.h.

std::vector<std::map<uchar,unsigned int> > pixelHistograms [protected]

Definition at line 120 of file Lookout.h.

MC_ID pointer_id [protected]

id for HeadPointerMC for pointing the camera

Definition at line 123 of file Lookout.h.

MC_ID posture_id [protected]

id for PostureMC for pointing the IR sensors

Definition at line 124 of file Lookout.h.

std::queue<LookoutRequestBase*> requests [protected]

queue of pending LookoutRequestBase instances, including the current request

Definition at line 126 of file Lookout.h.

MC_ID sequence_id [protected]

id for MotionSequenceMC for scanning

Definition at line 125 of file Lookout.h.

bool successSave [protected]

Definition at line 129 of file Lookout.h.

enum DualCoding::Lookout::TrackerStates trackerState [protected]

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

Lookout Class Reference

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation