Two-dimensional graphical item to project dynamical items (tubes, trajectories, etc.) on a map. More...

#include <codac_VIBesFigMap.h>

Inheritance diagram for codac::VIBesFigMap:

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Collaboration diagram for codac::VIBesFigMap:

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Classes
struct	FigMapTrajParams
	Specifies some parameters related to a Trajectory display. More...

struct	FigMapTubeParams
	Specifies some parameters related to a Tube display. More...

Public Member Functions
Basics
	VIBesFigMap (const std::string &fig_name)
	Creates a VIBesFigMap.

	~VIBesFigMap ()
	VIBesFigMap destructor.

void	restrict_tdomain (const Interval &restricted_tdomain)
	Restricts the display of the dynamical items to a part of their tdomain only.

void	enable_tubes_backgrounds (bool enable=true)
	Enables the display of previous versions of the tubes, in order to highlight the contractions of these sets.

void	show ()
	Displays this figure.

void	show (float robot_size)
	Displays this figure with a custom robot size.

void	set_tube_max_disp_slices (int max)
	Limits the number of slices to be displayed for tubes.

void	set_traj_max_disp_points (int max)
	Limits the number of points to be displayed for trajectories.

void	smooth_tube_drawing (bool smooth)
	Enables the smoothing of tubes.

Handling tubes
void	add_tube (const TubeVector *tube, const std::string &name, int index_x, int index_y)
	Adds a tube vector object to this figure.

void	set_tube_name (const TubeVector *tube, const std::string &name)
	Sets a new name for a tube.

void	set_tube_color (const TubeVector *tube, const std::string &color)
	Sets constant color properties for a given tube.

void	set_tube_color (const TubeVector tube, const ColorMap &colormap, const Trajectory traj_colormap=nullptr)
	Sets a color map for a given tube.

void	remove_tube (const TubeVector *tube)
	Removes a tube from this figure.

Handling trajectories
void	add_trajectory (const TrajectoryVector *traj, const std::string &name, int index_x, int index_y, const std::string &color=DEFAULT_TRAJMAP_COLOR, bool vehicle_display=DEFAULT_VEHICLE_DISPLAY_ON_EACH_TRAJ)
	Adds a trajectory vector object (x,y) to this figure.

void	add_trajectory (const TrajectoryVector *traj, const std::string &name, int index_x, int index_y, int index_heading, const std::string &color=DEFAULT_TRAJMAP_COLOR, bool vehicle_display=DEFAULT_VEHICLE_DISPLAY_ON_EACH_TRAJ)
	Adds a trajectory vector object (x,y,heading) to this figure.

void	set_trajectory_name (const TrajectoryVector *traj, const std::string &name)
	Sets a new name for a trajectory.

void	set_trajectory_color (const TrajectoryVector *traj, const std::string &color)
	Sets constant color properties for a given trajectory.

void	set_trajectory_color (const TrajectoryVector traj, const ColorMap &colormap, const Trajectory traj_colormap=nullptr)
	Sets a color map for a given trajectory.

void	set_vehicle_display (const TrajectoryVector *traj, bool vehicle_display)
	Displays a vehicle at the end of a trajectory.

void	remove_trajectory (const TrajectoryVector *traj)
	Removes a trajectory from this figure.

Handling robotics objects
void	draw_vehicle (const Vector &pose, float size=-1)
	Draws a vehicle with a given pose.

void	draw_vehicle (const Vector &pose, const vibes::Params &params, float size=-1)
	Draws a vehicle with a given pose.

void	draw_vehicle (double t, const TrajectoryVector *traj, float size=-1)
	Draws a vehicle on top of its trajectory.

void	draw_vehicle (double t, const TrajectoryVector *traj, const vibes::Params &params, float size=-1)
	Draws a vehicle on top of its trajectory.

void	add_beacon (const Beacon &beacon, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a Beacon object to the map.

void	add_beacon (const IntervalVector &beacon, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a Beacon object to the map (from an IntervalVector)

void	add_beacon (const Beacon &beacon, double width, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a Beacon object to the map with a specific width.

void	add_beacon (const Vector &beacon, double width, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a Beacon object to the map with a specific width (from a Vector)

void	add_beacons (const std::vector< Beacon > &v_beacons, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a set of Beacon objects to the map.

void	add_beacons (const std::vector< Beacon > &v_beacons, double width, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a set of Beacon objects to the map with a specific width.

void	add_landmarks (const std::vector< IntervalVector > &v_m, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a set of boxed landmarks to the map.

void	add_landmarks (const std::vector< Vector > &v_m, double width, const std::string &color=DEFAULT_BEACON_COLOR)
	Adds a set of landmarks to the map with a specific width.

void	add_observation (const IntervalVector &obs, const Vector &pose, const std::string &color=DEFAULT_OBS_COLOR)
	Adds a range-and-bearing uncertain observation to the map, in a static context.

void	add_observations (const std::vector< IntervalVector > &v_obs, const Vector &pose, const std::string &color=DEFAULT_OBS_COLOR)
	Adds a set of range-and-bearing uncertain observations to the map, in a static context.

void	add_observation (const IntervalVector &obs, const TrajectoryVector *traj, const std::string &color=DEFAULT_OBS_COLOR)
	Adds a range-and-bearing uncertain observation to the map, in a dynamic context.

void	add_observations (const std::vector< IntervalVector > &v_obs, const TrajectoryVector *traj, const std::string &color=DEFAULT_OBS_COLOR)
	Adds a set of range-and-bearing uncertain observations to the map, in a dynamic context.

double	heading (double t, const TrajectoryVector *traj) const
	Returns actual or estimated heading related to some TrajectoryVector at t.

Public Member Functions inherited from codac::VIBesFig
	VIBesFig (const std::string &fig_name)
	Creates a VIBesFig.

	~VIBesFig ()
	VIBesFig destructor.

void	close ()
	Closes this figure.

void	set_properties (int x, int y, int width, int height)
	Sets the properties (coordinates and dimensions) of this figure.

void	set_background (const std::string &bg_color)
	Sets the background color of this figure.

const IntervalVector &	axis_limits (double x_min, double x_max, double y_min, double y_max, bool same_ratio=false, float margin=0.)
	Sets the axis limits of this figure.

const IntervalVector &	axis_limits (const IntervalVector &viewbox, bool same_ratio=false, float margin=0.)
	Sets the axis limits of this figure.

void	save_image (const std::string &suffix="", const std::string &extension="svg", const std::string &path=".") const
	Saves the figure in SVG/PNG/... format.

void	show ()
	Displays this figure.

void	clear ()
	Clears this figure by removing displayed items.

void	draw_box (const IntervalVector &box, const vibes::Params &params)
	Draws a box.

void	draw_box (const IntervalVector &box, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a box.

void	draw_boxes (const std::vector< IntervalVector > &v_boxes, const vibes::Params &params)
	Draws a set of boxes.

void	draw_boxes (const std::vector< IntervalVector > &v_boxes, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of boxes.

void	draw_line (const std::vector< double > &v_x, const std::vector< double > &v_y, const vibes::Params &params)
	Draws a line of points.

void	draw_line (const std::vector< double > &v_x, const std::vector< double > &v_y, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a line of points.

void	draw_line (const std::vector< std::vector< double > > &v_pts, const vibes::Params &params)
	Draws a line of points.

void	draw_line (const std::vector< std::vector< double > > &v_pts, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a line of points.

void	draw_circle (double x, double y, double r, const vibes::Params &params)
	Draws a circle.

void	draw_circle (double x, double y, double r, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a circle.

void	draw_ring (double x, double y, const Interval &r, const vibes::Params &params)
	Draws a ring.

void	draw_ring (double x, double y, const Interval &r, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a ring.

void	draw_pie (double x, double y, const Interval &r, const Interval &theta, const vibes::Params &params)
	Draws a pie: radial portion of a ring.

void	draw_pie (double x, double y, const Interval &r, const Interval &theta, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a pie: radial portion of a ring.

void	draw_edge (const ThickEdge &e, const vibes::Params &params)
	Draws an edge.

void	draw_edge (const ThickEdge &e, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws an edge.

void	draw_polygon (const Polygon &p, const vibes::Params &params)
	Draws a polygon.

void	draw_polygon (const Polygon &p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a polygon.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const vibes::Params &params)
	Draws a set of polygons.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of polygons.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const ColorMap &color_map, const vibes::Params &params=vibes::Params())
	Draws a set of polygons.

void	draw_point (const ThickPoint &p, const vibes::Params &params)
	Draws a point.

void	draw_point (const ThickPoint &p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a point.

void	draw_point (const ThickPoint &p, float size, const vibes::Params &params)
	Draws a point.

void	draw_point (const ThickPoint &p, float size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a point.

void	draw_points (const std::vector< ThickPoint > &v_pts, float size, const vibes::Params &params)
	Draws a set of points.

void	draw_points (const std::vector< ThickPoint > &v_pts, float size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of points.

void	draw_vehicle (double x, double y, double heading, double size, const vibes::Params &params)
	Draws a vehicle.

void	draw_vehicle (double x, double y, double heading, double size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a vehicle.

Public Member Functions inherited from codac::Figure
	Figure (const std::string &fig_name)
	Creates a Figure.

	~Figure ()
	Figure destructor.

int	x () const
	Returns the horizontal coordinate of this figure.

int	y () const
	Returns the vertical coordinate of this figure.

int	width () const
	Returns the width of this figure.

int	height () const
	Returns the height of this figure.

const std::string	name () const
	Returns the name of this figure.

const IntervalVector &	view_box () const
	Returns the real values displayed by this figure.

void	reset_view_box ()
	Reset the view box of this figure.

void	set_properties (int x, int y, int width, int height)
	Sets the properties (coordinates and dimensions) of this figure.

Protected Member Functions
const IntervalVector	draw_tube (const TubeVector *tube)
	Draws a tube.

const IntervalVector	draw_tube_background (const TubeVector *tube)
	Draws the background of a tube.

const IntervalVector	draw_trajectory (const TrajectoryVector *traj, float points_size=0.)
	Draws a trajectory.

void	draw_slices (const TubeVector *tube)
	Draws the slices of a tube.

void	draw_beacon (const Beacon &beacon, const std::string &color, const vibes::Params &params)
	Draws a Beacon object.

void	draw_beacon (const Beacon &beacon, double width, const std::string &color, const vibes::Params &params)
	Draws a Beacon object with a specific width.

void	draw_observation (const IntervalVector &obs, const Vector &pose, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a range-and-bearing uncertain observation on the map in static situation.

void	draw_observation (const IntervalVector &obs, const TrajectoryVector *traj, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a range-and-bearing uncertain observation on the map in dynamic situation.

Protected Attributes
std::map< const TubeVector *, FigMapTubeParams >	m_map_tubes
	map of Tube objects to be displayed, together with parameters

std::map< const TrajectoryVector *, FigMapTrajParams >	m_map_trajs
	map of Trajectory objects to be displayed, together with parameters

Interval	m_restricted_tdomain
	restricts the display to a part of the temporal domain

bool	m_draw_tubes_backgrounds = true
	if `true`, will highlight tubes contractions

bool	m_smooth_drawing = false
	if `true`, a smooth rendering of tubes will be done

float	m_robot_size = 5.5
	if `0`, no robot display

unsigned int	m_tube_max_nb_disp_slices = TUBE_MAX_NB_DISPLAYED_SLICES
	limit for slices display

unsigned int	m_traj_max_nb_disp_points = TRAJ_MAX_NB_DISPLAYED_POINTS
	limit for traj points display

Protected Attributes inherited from codac::Figure
const std::string	m_name
	figure name

int	m_height = 300
	figure properties

IntervalVector	m_view_box = IntervalVector(2, Interval::EMPTY_SET)
	view box

Additional Inherited Members
Static Protected Member Functions inherited from codac::Figure
static double	trunc_inf (double x)
	Returns a representable value of any double variable `x`

static const Interval	trunc_inf (const Interval &x)
	Returns a representable value of any interval \([x]\).

static const IntervalVector	trunc_inf (const IntervalVector &x)
	Returns a representable value of any interval vector \([\mathbf{x}]\).

Detailed Description

Two-dimensional graphical item to project dynamical items (tubes, trajectories, etc.) on a map.

One figure is linked to some tube or trajectory pointers, so that any update on these objects can be easily displayed on the figure.

Constructor & Destructor Documentation

◆ VIBesFigMap()

codac::VIBesFigMap::VIBesFigMap ( const std::string & fig_name )

Creates a VIBesFigMap.

Parameters

fig_name name of the figure as displayed in the window title

Member Function Documentation

◆ restrict_tdomain()

void codac::VIBesFigMap::restrict_tdomain ( const Interval & restricted_tdomain )

Restricts the display of the dynamical items to a part of their tdomain only.

Parameters

restricted_tdomain subset of the temporal domain of the referenced items

◆ enable_tubes_backgrounds()

void codac::VIBesFigMap::enable_tubes_backgrounds ( bool enable = true )

Enables the display of previous versions of the tubes, in order to highlight the contractions of these sets.

Parameters

enable boolean parameter, true by default

◆ show()

void codac::VIBesFigMap::show ( float robot_size )

Displays this figure with a custom robot size.

Parameters

robot_size length of the displayed robot

◆ set_tube_max_disp_slices()

void codac::VIBesFigMap::set_tube_max_disp_slices ( int max )

Limits the number of slices to be displayed for tubes.

Parameters

max	the maximum number of slices

◆ set_traj_max_disp_points()

void codac::VIBesFigMap::set_traj_max_disp_points ( int max )

Limits the number of points to be displayed for trajectories.

Note that this will be applied for trajectories defined from TFunction objects (discretization).

Parameters

max	the maximum number of points

◆ smooth_tube_drawing()

void codac::VIBesFigMap::smooth_tube_drawing ( bool smooth )

Enables the smoothing of tubes.

Instead of boxed slices, polygons will be drawn which will provide a smooth but non-reliable rendering.

Parameters

smooth true for smooth display

◆ add_tube()

void codac::VIBesFigMap::add_tube	(	const TubeVector *	tube,
		const std::string &	name,
		int	index_x,
		int	index_y )

Adds a tube vector object to this figure.

Parameters

tube	a const pointer to a TubeVector object to be displayed
name	a name to identify this object
index_x	integer reference for the x-horizontal state component
index_y	integer reference for the y-horizontal state component

◆ set_tube_name()

void codac::VIBesFigMap::set_tube_name	(	const TubeVector *	tube,
		const std::string &	name )

Sets a new name for a tube.

Parameters

tube	the const pointer to the TubeVector object to be renamed
name	a new name to identify this object

◆ set_tube_color() [1/2]

void codac::VIBesFigMap::set_tube_color	(	const TubeVector *	tube,
		const std::string &	color )

Sets constant color properties for a given tube.

Parameters

tube	the const pointer to the TubeVector object for which the color will be set
color	a color to draw this tube

◆ set_tube_color() [2/2]

void codac::VIBesFigMap::set_tube_color	(	const TubeVector *	tube,
		const ColorMap &	colormap,
		const Trajectory *	traj_colormap = nullptr )

Sets a color map for a given tube.

Parameters

tube	the const pointer to the TubeVector object for which the color will be set
colormap	a ColorMap to draw this tube with time evolving colors
traj_colormap	an optional const pointer to a Trajectory object in order to have a custom color evolution instead of a linear time evolving color

◆ remove_tube()

void codac::VIBesFigMap::remove_tube ( const TubeVector * tube )

Removes a tube from this figure.

Todo: automatically clear the figure (for now, the tube is only removed from the list of objects to be shown afterwards)

Note: the object will not be deleted

Parameters

tube	the const pointer to the TubeVector object to be removed

◆ add_trajectory() [1/2]

void codac::VIBesFigMap::add_trajectory	(	const TrajectoryVector *	traj,
		const std::string &	name,
		int	index_x,
		int	index_y,
		const std::string &	color = DEFAULT_TRAJMAP_COLOR,
		bool	vehicle_display = DEFAULT_VEHICLE_DISPLAY_ON_EACH_TRAJ )

Adds a trajectory vector object (x,y) to this figure.

The heading information may be required for vehicle display. Here it will be simulated from the two components of the traj object. If available, use the other add_trajectory method.

Parameters

traj	a const pointer to a TrajectoryVector object to be displayed
name	a name to identify this object
index_x	integer reference for the x-horizontal state component
index_y	integer reference for the y-horizontal state component
color	an optional constant color for this object
vehicle_display	an optional boolean parameter to display a vehicle at the end of the trajectory

◆ add_trajectory() [2/2]

void codac::VIBesFigMap::add_trajectory	(	const TrajectoryVector *	traj,
		const std::string &	name,
		int	index_x,
		int	index_y,
		int	index_heading,
		const std::string &	color = DEFAULT_TRAJMAP_COLOR,
		bool	vehicle_display = DEFAULT_VEHICLE_DISPLAY_ON_EACH_TRAJ )

Adds a trajectory vector object (x,y,heading) to this figure.

The heading information may be required for vehicle display. If not available, use the other add_trajectory method.

Parameters

traj	a const pointer to a TrajectoryVector object to be displayed
name	a name to identify this object
index_x	integer reference for the x-horizontal state component
index_y	integer reference for the y-horizontal state component
index_heading	integer reference for the heading state component
color	an optional constant color for this object
vehicle_display	an optional boolean parameter to display a vehicle at the end of the trajectory

◆ set_trajectory_name()

void codac::VIBesFigMap::set_trajectory_name	(	const TrajectoryVector *	traj,
		const std::string &	name )

Sets a new name for a trajectory.

Parameters

traj	the const pointer to the TrajectoryVector object to be renamed
name	a new name to identify this object

◆ set_trajectory_color() [1/2]

void codac::VIBesFigMap::set_trajectory_color	(	const TrajectoryVector *	traj,
		const std::string &	color )

Sets constant color properties for a given trajectory.

Parameters

traj	the const pointer to the TrajectoryVector object for which the color will be set
color	a color to draw this trajectory

◆ set_trajectory_color() [2/2]

void codac::VIBesFigMap::set_trajectory_color	(	const TrajectoryVector *	traj,
		const ColorMap &	colormap,
		const Trajectory *	traj_colormap = nullptr )

Sets a color map for a given trajectory.

Parameters

traj	the const pointer to the TrajectoryVector object for which the color will be set
colormap	a ColorMap to draw this trajectory with time evolving colors
traj_colormap	an optional const pointer to a Trajectory object in order to have a custom color evolution instead of a linear time evolving color

◆ set_vehicle_display()

void codac::VIBesFigMap::set_vehicle_display	(	const TrajectoryVector *	traj,
		bool	vehicle_display )

Displays a vehicle at the end of a trajectory.

Parameters

traj	the const pointer to the TrajectoryVector object for which the vehicle will be drawn
vehicle_display	boolean parameter

◆ remove_trajectory()

void codac::VIBesFigMap::remove_trajectory ( const TrajectoryVector * traj )

Removes a trajectory from this figure.

Todo: automatically clear the figure (for now, the trajectory is only removed from the list of objects to be shown afterwards)

Note: the object will not be deleted

Parameters

traj	the const pointer to the TrajectoryVector object to be removed

◆ draw_vehicle() [1/4]

void codac::VIBesFigMap::draw_vehicle	(	const Vector &	pose,
		float	size = -1 )

Draws a vehicle with a given pose.

Parameters

pose	vector (x,y[,heading]) describing robot's pose (2d or 3d)
size	optional robot size (-1 = size of main vehicle by default)

◆ draw_vehicle() [2/4]

void codac::VIBesFigMap::draw_vehicle	(	const Vector &	pose,
		const vibes::Params &	params,
		float	size = -1 )

Draws a vehicle with a given pose.

Parameters

pose	vector (x,y[,heading]) describing robot's pose (2d or 3d)
params	VIBes parameters related to the vehicle (for groups)
size	optional robot size (-1 = size of main vehicle by default)

◆ draw_vehicle() [3/4]

void codac::VIBesFigMap::draw_vehicle	(	double	t,
		const TrajectoryVector *	traj,
		float	size = -1 )

Draws a vehicle on top of its trajectory.

Parameters

t	temporal key of the vehicle state to be drawn
traj	the const pointer to the related TrajectoryVector object
size	optional robot size (-1 = size of main vehicle by default)

◆ draw_vehicle() [4/4]

void codac::VIBesFigMap::draw_vehicle	(	double	t,
		const TrajectoryVector *	traj,
		const vibes::Params &	params,
		float	size = -1 )

Draws a vehicle on top of its trajectory.

Parameters

t	temporal key of the vehicle state to be drawn
traj	the const pointer to the related TrajectoryVector object
params	VIBes parameters related to the vehicle (for groups)
size	optional robot size (-1 = size of main vehicle by default)

◆ add_beacon() [1/4]

void codac::VIBesFigMap::add_beacon	(	const Beacon &	beacon,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a Beacon object to the map.

The width of the displayed box is related to the uncertainty of the Beacon object.

Parameters

beacon	a const reference to the Beacon object to be drawn
color	optional color of the beacon

◆ add_beacon() [2/4]

void codac::VIBesFigMap::add_beacon	(	const IntervalVector &	beacon,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a Beacon object to the map (from an IntervalVector)

The width of the displayed box is related to the uncertainty of the IntervalVector object.

Parameters

beacon	a const reference to the IntervalVector object to be drawn
color	optional color of the beacon

◆ add_beacon() [3/4]

void codac::VIBesFigMap::add_beacon	(	const Beacon &	beacon,
		double	width,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a Beacon object to the map with a specific width.

Parameters

beacon	a const reference to the Beacon object to be drawn
width	the real width of the squared beacon
color	optional color of the beacon

◆ add_beacon() [4/4]

void codac::VIBesFigMap::add_beacon	(	const Vector &	beacon,
		double	width,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a Beacon object to the map with a specific width (from a Vector)

Parameters

beacon	a const reference to the Vector object to be drawn
width	the real width of the squared beacon
color	optional color of the beacon

◆ add_beacons() [1/2]

void codac::VIBesFigMap::add_beacons	(	const std::vector< Beacon > &	v_beacons,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a set of Beacon objects to the map.

The width of the displayed boxes is related to the uncertainty of the Beacon objects.

Deprecated: to be removed

Parameters

v_beacons	a vector of const references to Beacon objects to be drawn
color	optional color of the beacons

◆ add_beacons() [2/2]

void codac::VIBesFigMap::add_beacons	(	const std::vector< Beacon > &	v_beacons,
		double	width,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a set of Beacon objects to the map with a specific width.

Deprecated: to be removed

Parameters

v_beacons	a vector of const references to Beacon objects to be drawn
width	the real width of the squared beacons
color	optional color of the beacons

◆ add_landmarks() [1/2]

void codac::VIBesFigMap::add_landmarks	(	const std::vector< IntervalVector > &	v_m,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a set of boxed landmarks to the map.

Parameters

v_m	a vector of boxes to be drawn
color	optional color of the beacons

◆ add_landmarks() [2/2]

void codac::VIBesFigMap::add_landmarks	(	const std::vector< Vector > &	v_m,
		double	width,
		const std::string &	color = DEFAULT_BEACON_COLOR )

Adds a set of landmarks to the map with a specific width.

Parameters

v_m	a vector of 2d positions of landmarks
width	the width of the squared beacons
color	optional color of the beacons

◆ add_observation() [1/2]

void codac::VIBesFigMap::add_observation	(	const IntervalVector &	obs,
		const Vector &	pose,
		const std::string &	color = DEFAULT_OBS_COLOR )

Adds a range-and-bearing uncertain observation to the map, in a static context.

The observation is a 2d interval vector: (range,bearing). It is associated with the pose of a robot, from which the observation has been made.

Parameters

obs	the 2d interval vector enclosing the measurement
pose	the related 3d Vector object representing the pose (x,y,heading)
color	optional color of the observation

◆ add_observations() [1/2]

void codac::VIBesFigMap::add_observations	(	const std::vector< IntervalVector > &	v_obs,
		const Vector &	pose,
		const std::string &	color = DEFAULT_OBS_COLOR )

Adds a set of range-and-bearing uncertain observations to the map, in a static context.

The observation is a 2d interval vector: (range,bearing). It is associated with the pose of a robot, from which the observation has been made.

Parameters

v_obs	a vector of 2d interval vectors enclosing the measurements
pose	the related 3d Vector object representing the pose (x,y,heading)
color	optional color of the observation

◆ add_observation() [2/2]

void codac::VIBesFigMap::add_observation	(	const IntervalVector &	obs,
		const TrajectoryVector *	traj,
		const std::string &	color = DEFAULT_OBS_COLOR )

Adds a range-and-bearing uncertain observation to the map, in a dynamic context.

The observation is a 3d interval vector: (time,range,bearing). It is associated with the trajectory of a robot, from which the observation has been made.

Parameters

obs	the 3d interval vector enclosing the measurement
traj	the const pointer to the related TrajectoryVector object
color	optional color of the observation

◆ add_observations() [2/2]

void codac::VIBesFigMap::add_observations	(	const std::vector< IntervalVector > &	v_obs,
		const TrajectoryVector *	traj,
		const std::string &	color = DEFAULT_OBS_COLOR )

Adds a set of range-and-bearing uncertain observations to the map, in a dynamic context.

The observation is a 3d interval vector: (time,range,bearing). It is associated with the trajectory of a robot, from which the observation has been made.

Parameters

v_obs	a vector of 3d interval vectors enclosing the measurements
traj	the const pointer to the related TrajectoryVector object
color	optional color of the observation

◆ heading()

double codac::VIBesFigMap::heading	(	double	t,
		const TrajectoryVector *	traj ) const

Returns actual or estimated heading related to some TrajectoryVector at t.

If one component of the traj object depicts the heading, then it is evaluated. Otherwise, some approximation is made around t in order to provide an estimate of the heading.

Parameters

t	time input of evaluation
traj	the const pointer to the related TrajectoryVector object

Returns: heading in radians

◆ draw_tube()

const IntervalVector codac::VIBesFigMap::draw_tube ( const TubeVector * tube )

protected

Draws a tube.

Parameters

tube	the const pointer to the TubeVector object to be drawn

Returns: the projected boxed envelope of the tube (used for figure calibration)

◆ draw_tube_background()

const IntervalVector codac::VIBesFigMap::draw_tube_background ( const TubeVector * tube )

protected

Draws the background of a tube.

Backgrounds are previous versions of the tubes, before their last contraction. This is useful to highlight on the map the improvement provided by the contractions.

Parameters

tube	the const pointer to the TubeVector object to be drawn

Returns: the projected boxed envelope of the tube background (used for figure calibration)

◆ draw_trajectory()

const IntervalVector codac::VIBesFigMap::draw_trajectory	(	const TrajectoryVector *	traj,
		float	points_size = 0. )

protected

Draws a trajectory.

Todo: ColorMap associated to point display (for now: constant color for points)

Parameters

traj	the const pointer to the TrajectoryVector object to be drawn
points_size	optional size of points, 0 by default (line display instead of a list of points)

Returns: the projected boxed envelope of the trajectory (used for figure calibration)

◆ draw_slices()

void codac::VIBesFigMap::draw_slices ( const TubeVector * tube )

protected

Draws the slices of a tube.

Parameters

tube	the const pointer to the TubeVector object to be drawn

◆ draw_beacon() [1/2]

void codac::VIBesFigMap::draw_beacon	(	const Beacon &	beacon,
		const std::string &	color,
		const vibes::Params &	params )

protected

Draws a Beacon object.

The width of the displayed box is related to the uncertainty of the Beacon object.

Parameters

beacon	a const reference to the Beacon object to be drawn
color	color of the beacon
params	VIBes parameters related to the beacon

◆ draw_beacon() [2/2]

void codac::VIBesFigMap::draw_beacon	(	const Beacon &	beacon,
		double	width,
		const std::string &	color,
		const vibes::Params &	params )

protected

Draws a Beacon object with a specific width.

Parameters

beacon	a const reference to the Beacon object to be drawn
width	the real width of the squared beacon
color	color of the beacon
params	VIBes parameters related to the beacon

◆ draw_observation() [1/2]

void codac::VIBesFigMap::draw_observation	(	const IntervalVector &	obs,
		const Vector &	pose,
		const std::string &	color = "",
		const vibes::Params &	params = vibes::Params() )

protected

Draws a range-and-bearing uncertain observation on the map in static situation.

The observation is a 2d interval vector: (range,bearing). It is associated with the pose of a robot, from which the observation has been made.

Parameters

obs	the 2d interval vector enclosing the measurement
pose	the related 3d Vector object representing the pose (x,y,heading)
color	color of the observation
params	VIBes parameters related to the observation

◆ draw_observation() [2/2]

void codac::VIBesFigMap::draw_observation	(	const IntervalVector &	obs,
		const TrajectoryVector *	traj,
		const std::string &	color = "",
		const vibes::Params &	params = vibes::Params() )

protected

Draws a range-and-bearing uncertain observation on the map in dynamic situation.

The observation is a 3d interval vector: (time,range,bearing). It is associated with the trajectory of a robot, from which the observation has been made.

Parameters

obs	the 3d interval vector enclosing the measurement
traj	the const pointer to the related TrajectoryVector object
color	color of the observation
params	VIBes parameters related to the observation

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

/home/simon/codac/src/robotics/graphics/codac_VIBesFigMap.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VIBesFigMap()

Member Function Documentation

◆ restrict_tdomain()

◆ enable_tubes_backgrounds()

◆ show()

◆ set_tube_max_disp_slices()

◆ set_traj_max_disp_points()

◆ smooth_tube_drawing()

◆ add_tube()

◆ set_tube_name()

◆ set_tube_color() [1/2]

◆ set_tube_color() [2/2]

◆ remove_tube()

◆ add_trajectory() [1/2]

◆ add_trajectory() [2/2]

◆ set_trajectory_name()

◆ set_trajectory_color() [1/2]

◆ set_trajectory_color() [2/2]

◆ set_vehicle_display()

◆ remove_trajectory()

◆ draw_vehicle() [1/4]

◆ draw_vehicle() [2/4]

◆ draw_vehicle() [3/4]

◆ draw_vehicle() [4/4]

◆ add_beacon() [1/4]

◆ add_beacon() [2/4]

◆ add_beacon() [3/4]

◆ add_beacon() [4/4]

◆ add_beacons() [1/2]

◆ add_beacons() [2/2]

◆ add_landmarks() [1/2]

◆ add_landmarks() [2/2]

◆ add_observation() [1/2]

◆ add_observations() [1/2]

◆ add_observation() [2/2]

◆ add_observations() [2/2]

◆ heading()

◆ draw_tube()

◆ draw_tube_background()

◆ draw_trajectory()

◆ draw_slices()

◆ draw_beacon() [1/2]

◆ draw_beacon() [2/2]

◆ draw_observation() [1/2]

◆ draw_observation() [2/2]