OccupancyGrid3DProxy Class Reference

Proxy class used to add and manipulate 3D occupancy grids. More...

Inheritance diagram for OccupancyGrid3DProxy:

List of all members.

Public Member Functions
	OccupancyGrid3DProxy (OccupancyGrid3DProxy &p)
OccupancyGrid3DProxy &	operator= (const OccupancyGrid3DProxy &p)
OccupancyGrid3DProxy &	operator= (const OccupancyGrid3DProxyBase &p)
DelayedDispatch	assign (const ObjectProxyBase &p)
DelayedDispatch	assign (PeekabotClient &client, const std::string &path)
DelayedDispatch	assign (const ObjectProxyBase &parent, const std::string &rel_path)
DelayedDispatch	add (PeekabotClient &client, const std::string &path, float cell_xy_size, float cell_z_size, NameConflictPolicy conflict_policy=AUTO_ENUMERATE_ON_CONFLICT)
	Add a 3D occupancy grid to the scene.
DelayedDispatch	add (const ObjectProxyBase &parent, const std::string &name, float cell_xy_size, float cell_z_size, NameConflictPolicy conflict_policy=AUTO_ENUMERATE_ON_CONFLICT)
	Add a 3D occupancy grid to the scene.

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Detailed Description

Proxy class used to add and manipulate 3D occupancy grids.

Cells in the occupancy grid are addressed by coordinates, rather than indices.

Usage example

 // Add an occupancy grid to the scene
 peekabot::OccupancyGrid3DProxy og;
 og.add(client, "root.og", 0.2);

 // Set a bunch of cells
 peekabot::OccupancySet3D cells;
 cells.set_cell(7.2, 9.8, 2.3, 0.5);
 cells.set_cell(7.4, 9.8, 2,5, 0.4);
 cells.set_cell(7.6, 10.0, 2.5, 0.55);
 og.set_cells(cells);

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Member Function Documentation

DelayedDispatch add	(	PeekabotClient &	client,
		const std::string &	path,
		float	cell_xy_size,
		float	cell_z_size,
		NameConflictPolicy	conflict_policy = AUTO_ENUMERATE_ON_CONFLICT
	)

Add a 3D occupancy grid to the scene.

Adds a occupancy grid to the scene at the given path and assigns the proxy to point to it. If an object already exists at the given path the outcome is governed by conflict_policy.

Parameters:

	path	The path where the object will be added, including the name of the object.
	cell_size	The length of the sides, in meters, of the (square) occupancy grid cells.
	conflict_policy	Determines how name conflicts are handled.

DelayedDispatch add	(	const ObjectProxyBase &	parent,
		const std::string &	name,
		float	cell_xy_size,
		float	cell_z_size,
		NameConflictPolicy	conflict_policy = AUTO_ENUMERATE_ON_CONFLICT
	)

Add a 3D occupancy grid to the scene.

Adds a occupancy grid with the given name under the the object referred to by parent and assigns the proxy to point to it. If an object already exists at the given path the outcome is governed by conflict_policy.

Parameters:

	parent	The parent under which the object will be added.
	name	The name to assign to the created object.
	cell_size	The length of the sides, in meters, of the (square) occupancy grid cells.
	conflict_policy	Determines how name conflicts are handled.

DelayedDispatch assign	(	PeekabotClient &	client,
		const std::string &	path
	)

Assign the proxy to the object with the given path.

Parameters:

	client	The client to use for this proxy.
	path	The path of the object in the peeakbot scene.

DelayedDispatch assign	(	const ObjectProxyBase &	parent,
		const std::string &	rel_path
	)

Assign the proxy to the object with the given parent and name.

Parameters:

	parent	The parent of the object referred to by name.
	rel_path	The path of the object, relative the parent object, to assign this proxy to.

DelayedDispatch assign

(

const ObjectProxyBase &

p

)

Upcast and assign from another proxy.

If the object pointed to by p is not of compatible type, the assignment will fail and subsequent operations performed on the proxy will fail.

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

• src/client/proxies/OccupancyGrid3DProxy.hh
• src/client/proxies/OccupancyGrid3DProxy.cc