minotaur::MapCreator Klassenreferenz

Calculates the histogramm values. Mehr ...

#include <MapCreator.hpp>

Öffentliche Methoden
	MapCreator (int width, int height)
	MapCreator (Map p_map)
void	setSensorDistances (int sensor, float x, float y)
	Sets the distances of the sensors to the mid of the robot.
void	step (const int p_sensor, const int p_distance)
	Uses the given sensor data to increment the values in the histogramm.
void	calculateObstaclePosition (const int sensor, int measuredDistance)
void	incrementCells (int position_y, int position_x, int quality)
void	generateCone (float p_angle, float p_realDistance, int *p_pos_x, int *p_pos_y)
float	checkAngle (float p_angle)
bool	checkForInvalidValues (int *p_pos_x, int *p_pos_y)
void	calculateDistances (float p_angle, float p_realDistance, float *p_dist_x, float *p_dist_y, int index)
void	setPosition (RobotPosition p_position)
	Sets the position of the robot.
Map *	getMap ()
	Grants access to the Map object containing the histogramm.
void	createTextFile (const char *path)
int	getXOffset ()
int	getYOffset ()

Ausführliche Beschreibung

Calculates the histogramm values.

This class manages and processes a Map (histogramm field) object and calculates the values of the cells of the map.

Dokumentation der Elementfunktionen

Map * minotaur::MapCreator::getMap

(

)

Grants access to the Map object containing the histogramm.

Rückgabe

pointer to the Map object

void minotaur::MapCreator::setPosition

(

RobotPosition

p_position

)

Sets the position of the robot.

This information is needed during step() to calculate which cells have to be incremented.

Parameter

p_position

current position of the robot.

void minotaur::MapCreator::setSensorDistances	(	int	sensor,
		float	x,
		float	y
	)

Sets the distances of the sensors to the mid of the robot.

Sets the Distance from Zero sensor = Number of sensor -> 1 = frontsensor -> 2 = sensor on the right -> 3 = sensor on the left x = Distance in x direction y = Distance in y direction.

These values are considered during step() to calculate which cells have to be incremented.

Parameter

sensor	index of sensor (left,right,front)
x	distance to robot in x-direction (vertically)
y	distance to robot in y-direction (horizontally)

void minotaur::MapCreator::step	(	const int	p_sensor,
		const int	p_distance
	)

Uses the given sensor data to increment the values in the histogramm.

Parameter

p_sensor	index of sensor (left,right,front)
p_distance	measured distance in cm

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Die Dokumentation für diese Klasse wurde erzeugt aufgrund der Dateien:

• /home/fabian/develop/nxt_minotaur/src/minotaur_map/include/minotaur_map/MapCreator.hpp
• /home/fabian/develop/nxt_minotaur/src/minotaur_map/src/minotaur_map/MapCreator.cpp