obstacle_map_driver.C File Reference

#include "transformations.H"
#include "data_type.H"
#include "data_queue.H"
#include "data_logger.H"
#include "queue_factory.H"
#include "grid.H"
#include "util.H"
#include "conf.H"
#include <cmath>
#include <iostream>
#include <unistd.h>
#include <getopt.h>
#include "libgen.h"

Classes
struct	obstacle_cell_t
Typedefs
typedef grid_t< obstacle_cell_t >	obstacle_grid_t
Functions
void	fill_dtm (local_dtm_data_t &dtm, double tstamp, double heading_, double center_x, double center_y)
void	process_translated_data (scan_gp_data_t const &points)
void	build_terrain_model (int scan_id)
bool	read_config (char const *config_filename)
int	main (int argc, char **argv)
Variables
char const *	progname
unsigned	scan_id = 0
double	sick_displacement [4]
double	sick_theta_x
double	sick_theta_y
double	sick_theta_z
unsigned	obstacle_hit_count = 0
unsigned	flush_scan_count = 5
double	ignore_scan_pitch_threshold = 180
bool	force_obstacles
bool	no_roll_pitch = false
double	cell_size = .32
data_logger_t< scan_gp_data_t >	scan_gp_logger
data_queue_writer_t < scan_gp_data_t > *	scan_gp_writer = NULL
obstacle_grid_t	grid

---

Typedef Documentation

typedef grid_t<obstacle_cell_t> obstacle_grid_t

---

Function Documentation

void build_terrain_model

(

int

scan_id

)

References fill_dtm(), grid, ignore_scan_pitch_threshold, cajun::interpolate(), no_roll_pitch, process_translated_data(), and cajun::translate().

Referenced by main().

void fill_dtm	(	local_dtm_data_t &	dtm,
		double	tstamp,
		double	heading_,
		double	center_x,
		double	center_y
	)

References cell_size, and grid.

Referenced by build_terrain_model().

int main	(	int	argc,
		char **	argv
	)

References build_terrain_model(), cajun::compute_sick_transf_matrix(), no_roll_pitch, progname, read_config(), scan_gp_logger, scan_gp_writer, scan_id, sick_displacement, sick_theta_x, sick_theta_y, and sick_theta_z.

void process_translated_data

(

scan_gp_data_t const &

points

)

References cell_size, force_obstacles, grid, obstacle_hit_count, and scan_gp_writer.

Referenced by build_terrain_model().

bool read_config

(

char const *

config_filename

)

References flush_scan_count, force_obstacles, ignore_scan_pitch_threshold, obstacle_hit_count, read_conf(), scan_id, sick_displacement, sick_theta_x, sick_theta_y, and sick_theta_z.

Referenced by main().

---

Variable Documentation

double cell_size = .32

unsigned flush_scan_count = 5

Referenced by read_config().

bool force_obstacles

Referenced by process_translated_data(), and read_config().

obstacle_grid_t grid

Referenced by build_terrain_model(), fill_dtm(), and process_translated_data().

double ignore_scan_pitch_threshold = 180

Referenced by build_terrain_model(), and read_config().

bool no_roll_pitch = false

Referenced by build_terrain_model(), and main().

unsigned obstacle_hit_count = 0

Referenced by process_translated_data(), and read_config().

char const* progname

data_logger_t<scan_gp_data_t> scan_gp_logger

Referenced by main().

data_queue_writer_t<scan_gp_data_t>* scan_gp_writer = NULL

Referenced by main(), and process_translated_data().

unsigned scan_id = 0

Referenced by form_obstacle(), main(), and read_config().

double sick_displacement[4]

Referenced by main(), and read_config().

double sick_theta_x

Referenced by main(), and read_config().

double sick_theta_y

Referenced by main(), and read_config().

double sick_theta_z

Referenced by main(), and read_config().