roborts_decision::Field Class Reference

#include <field.h>

Public Member Functions
	Field (const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Field (const Field &)=delete
	Field (Field &&)=delete
const std::vector< std::pair< BuffZoneStatus, roborts_common::Zone > > &	GetBuffZoneStatus () const
const std::vector< roborts_common::Zone > &	getObstacles () const
const std::vector< roborts_common::Zone > &	getWalls () const
int	IsZoneActive (BuffStatus buff_status)
std::vector< roborts_common::Polygon2D >	GetObstaclesBetweenTwoRobots (const roborts_common::Point2D point1, const roborts_common::Point2D point2)
bool	GetDisToObstacleSuitable (const roborts_common::Point2D &point)

Static Public Member Functions
static std::shared_ptr< Field >	GetField ()
static std::vector< roborts_common::Polygon2D >	TurnRectangulars (const std::vector< roborts_common::Zone > &zones)

Private Member Functions
void	buffZoneStatusCallback (const roborts_msgs::BuffZoneStatus::ConstPtr &msg)

Private Attributes
ros::NodeHandle	nh_
ros::Subscriber	buff_zone_sub_
std::vector< std::pair< BuffZoneStatus, roborts_common::Zone > >	vec_buff_zone_status_
std::vector< roborts_common::Zone >	obstacles_
std::vector< roborts_common::Zone >	walls_

Static Private Attributes
static std::shared_ptr< Field >	field_ = nullptr

Detailed Description

与障碍物有关的信息

Constructor & Destructor Documentation

Field() [1/3]

Field::Field

(

const ros::NodeHandle &

nh = ros::NodeHandle("~")

)

Field() [2/3]

roborts_decision::Field::Field ( const Field &  )

delete

Field() [3/3]

roborts_decision::Field::Field ( Field &&  )

delete

Member Function Documentation

buffZoneStatusCallback()

void Field::buffZoneStatusCallback ( const roborts_msgs::BuffZoneStatus::ConstPtr &  msg )

private

GetBuffZoneStatus()

const std::vector< std::pair< BuffZoneStatus, roborts_common::Zone > > & Field::GetBuffZoneStatus

(

)

const

GetDisToObstacleSuitable()

bool Field::GetDisToObstacleSuitable

(

const roborts_common::Point2D &

point

)

判断当前跑位点知否合适，如果距离大于sqrt(2)/2个车长，则合适，否则不合适

Parameters

point

Returns

GetField()

std::shared_ptr< Field > Field::GetField ( )

static

getObstacles()

const std::vector< roborts_common::Zone > & Field::getObstacles

(

)

const

GetObstaclesBetweenTwoRobots()

std::vector< roborts_common::Polygon2D > Field::GetObstaclesBetweenTwoRobots	(	const roborts_common::Point2D	point1,
		const roborts_common::Point2D	point2
	)

getWalls()

const std::vector< roborts_common::Zone > & Field::getWalls

(

)

const

IsZoneActive()

int Field::IsZoneActive

(

BuffStatus

buff_status

)

Adjust the buff Zone is active

Parameters

buff_status

The Buff Zone status

Returns

When the buff Zone is active return the Zone id, and the other one return false

TurnRectangulars()

std::vector< roborts_common::Polygon2D > roborts_decision::Field::TurnRectangulars ( const std::vector< roborts_common::Zone > &  zones )

static

Member Data Documentation

buff_zone_sub_

ros::Subscriber roborts_decision::Field::buff_zone_sub_

private

field_

std::shared_ptr< Field > Field::field_ = nullptr

staticprivate

nh_

ros::NodeHandle roborts_decision::Field::nh_

private

obstacles_

std::vector<roborts_common::Zone> roborts_decision::Field::obstacles_

private

vec_buff_zone_status_

std::vector<std::pair<BuffZoneStatus, roborts_common::Zone> > roborts_decision::Field::vec_buff_zone_status_

private

walls_

std::vector<roborts_common::Zone> roborts_decision::Field::walls_

private

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

• src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/field.h
• src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/field.cpp