conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush Class Reference

#include <cartographyCommands.h>

Inheritance diagram for conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush:

Public Member Functions
	CommandCartographyNetworkPush (ptr< CscEntityReflexion > entityReflexion, CommandCartographyNetworkPushParams *params)
	~CommandCartographyNetworkPush () override
Public Member Functions inherited from conscience_core::bridging::commands::CscCommandTypedResult< CscCommandExecutionResultString >
const CscCommandExecutionResultString *	execute (CscEnvironmentSimulator &environmentSimulator)
Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
template<class TResult = CscCommandExecutionResult>
const TResult *	execute (CscEnvironmentSimulator &environmentSimulator)
const CommandTypeId &	getTypeId () const
virtual	~CscCommand ()
void	setOriginalCommandString (string command)

Static Public Attributes
static const CommandTypeId	COMMAND_ID = "CARTOGRAPHY_NETWORK_PUSH"

Protected Member Functions
const CscCommandExecutionResultString *	doExecute (CscEnvironmentSimulator &environmentSimulator) override
ptr< CscEntityReflexion >	getEntityReflexion () const override
Protected Member Functions inherited from conscience_core::bridging::commands::CscCommandTypedResult< CscCommandExecutionResultString >
	CscCommandTypedResult (const CommandTypeId &typeId)
Protected Member Functions inherited from conscience_core::bridging::commands::CscCommand
	CscCommand (const CommandTypeId &typeId)
const CscCommandExecutionResultNone *	resultNone ()
const CscCommandExecutionResultSequence *	resultSequence (CscSequence *sequence, const string &entitySerialNumber, bool doNotPlay=false)
const CscCommandExecutionResultFile *	resultFile (const fs::path &resultingFilePath)
template<class TResult >
const CscCommandExecutionResultObject< TResult > *	resultObject (TResult *result)
const CscWorldElementId	getEntityId () const

Protected Attributes
ptr< CscEntityReflexion >	entityReflexion
CommandCartographyNetworkPushParams *	params = nullptr
std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CommandCartographyNetworkPush")
Protected Attributes inherited from conscience_core::bridging::commands::CscCommand
const CommandTypeId	typeId
optional< string >	originalCommandString = {}

Additional Inherited Members
Public Types inherited from conscience_core::bridging::commands::CscCommandTypedResult< CscCommandExecutionResultString >
using	ResultType = CscCommandExecutionResultString
Public Types inherited from conscience_core::bridging::commands::CscCommand
typedef function< void(CscCommand *command)>	CommandExecutedListener
Static Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
static void	addCommandExecutedListener (CommandExecutedListener listener)

Detailed Description

Sends cartography voxels and cartography updates on network. Optionally compresses data, multiple formats available.

Formats: Plain: [uint64_t timestamp] [uint8_t mode] [double voxelSizeMeters] [uint8_t hasMetadata] if hasMetadata != 0: [uint64_t metadataLength] [metadataLength bytes metadataString] [uint64_t count] [payload]

mode is the numeric value of conscience_core::lidar::CscSlam3dMapVoxelChangesMode:

• Full Rebuild: payload = count * [int32_t x][int32_t y][int32_t z]
• Diffs: payload = count * [uint8_t diffType][int32_t x][int32_t y][int32_t z]

diffType is the numeric value of conscience_core::lidar::CscSlam3dMapVoxelDiffType.

metadataString is encoded as UTF-8 without null terminator. Current metadata string format: initPos=x,y,z&initQuat=w,x,y,z

initPos values are written in Conscience/project coordinates, in centimeters: x = front, y = up, z = right.

initQuat values are written as quaternion components: w, x, y, z.

Voxel coordinates are written in Conscience reference frame: x = front, y = up, z = right.

To convert a voxel coordinate to meters: meters = voxelCoordinate * voxelSizeMeters

or centimeters: centimeters = voxelCoordinate * voxelSizeMeters * 100.0

Compression:

• LZ4: Encoded payload is an LZ4-compressed binary buffer (block mode). To decode, decompress with LZ4, then read plain format explained above.
• None: No compression.

All values are written as raw native bytes, little endian.

See also

conscience_core::lidar::CscSlam3dMapVoxelChangesMode

conscience_core::lidar::CscSlam3dMapVoxelDiffType

Constructor & Destructor Documentation

CommandCartographyNetworkPush()

conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::CommandCartographyNetworkPush	(	ptr< CscEntityReflexion >	entityReflexion,
		CommandCartographyNetworkPushParams *	params
	)

~CommandCartographyNetworkPush()

conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::~CommandCartographyNetworkPush ( )

override

Member Function Documentation

doExecute()

const CscCommandExecutionResultString * conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::doExecute ( CscEnvironmentSimulator &  environmentSimulator )

overrideprotectedvirtual

Implements conscience_core::bridging::commands::CscCommandTypedResult< CscCommandExecutionResultString >.

getEntityReflexion()

ptr< CscEntityReflexion > conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::getEntityReflexion ( ) const

overrideprotectedvirtual

return entity reflexion if this command applies on an entityReflexion, otherwise return nullptr

Implements conscience_core::bridging::commands::CscCommand.

Member Data Documentation

COMMAND_ID

const CommandTypeId conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::COMMAND_ID = "CARTOGRAPHY_NETWORK_PUSH"

inlinestatic

entityReflexion

ptr<CscEntityReflexion> conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::entityReflexion

protected

logger

std::unique_ptr<CscLogger> conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::logger = CscLogger::getForCategory("CommandCartographyNetworkPush")

protected

params

CommandCartographyNetworkPushParams* conscience_core::bridging::commands::cartography::CommandCartographyNetworkPush::params = nullptr

protected

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

• Bridging/EnvironmentInteractionCommands/cartographyCommands.h
• Bridging/EnvironmentInteractionCommands/cartographyCommands.cpp