conscience_core::lidar::CscEntityPositionManager Class Reference

#include <CscEntityPositionManager.h>

Public Member Functions
	CscEntityPositionManager (const string &entitySerialNumber, CscEnvironmentSimulator &globalEnvironmentSimulator)
virtual	~CscEntityPositionManager ()
void	addPositionUpdateListener (const string &listenerId, PositionUpdateListener listener)
void	removePositionUpdateListener (const string &listenerId)
const CscPoint3dOriented *	getLastPlausiblePosition (double improbablePositionDistanceCm=50) const
const CscPoint3dOriented *	getLastPosition () const
const CscPoint3dOriented *	getPositionFromSimulator () const
pair< CscPoint3d, CscQuaternion >	getPositionAndOrientationQuaternionFromSimulator () const
void	registerPosition (const CscPoint3dOriented *position, float certitude, CscEntityPositionSource source, double improbablePositionDistanceCm=50, bool forceRegisterPosition=false)
const string	getEntitySerialNumber () const
CscEnvironmentSimulator &	getEnvironmentSimulator () const
void	setGpsValid (bool isValid)
bool	getGpsValid () const
map< const string, PositionUpdateListener >	getPositionListeners () const
optional< CscPoint3d >	getRealEntityAcceleration ()
void	setRealEntityAcceleration (optional< CscPoint3d > acceleration)

Constructor & Destructor Documentation

CscEntityPositionManager()

conscience_core::lidar::CscEntityPositionManager::CscEntityPositionManager	(	const string &	entitySerialNumber,
		CscEnvironmentSimulator &	globalEnvironmentSimulator
	)

~CscEntityPositionManager()

conscience_core::lidar::CscEntityPositionManager::~CscEntityPositionManager ( )

virtual

Member Function Documentation

addPositionUpdateListener()

void conscience_core::lidar::CscEntityPositionManager::addPositionUpdateListener	(	const string &	listenerId,
		PositionUpdateListener	listener
	)

getEntitySerialNumber()

const string conscience_core::lidar::CscEntityPositionManager::getEntitySerialNumber ( ) const

inline

getEnvironmentSimulator()

CscEnvironmentSimulator & conscience_core::lidar::CscEntityPositionManager::getEnvironmentSimulator

(

)

const

getGpsValid()

bool conscience_core::lidar::CscEntityPositionManager::getGpsValid

(

)

const

getLastPlausiblePosition()

const CscPoint3dOriented * conscience_core::lidar::CscEntityPositionManager::getLastPlausiblePosition

(

double

improbablePositionDistanceCm = 50

)

const

look into history to grab last plausible position. The requires at least one safe position registration

getLastPosition()

const CscPoint3dOriented * conscience_core::lidar::CscEntityPositionManager::getLastPosition

(

)

const

return last position

getPositionAndOrientationQuaternionFromSimulator()

pair< CscPoint3d, CscQuaternion > conscience_core::lidar::CscEntityPositionManager::getPositionAndOrientationQuaternionFromSimulator

(

)

const

get instant position from global environment simulator

getPositionFromSimulator()

const CscPoint3dOriented * conscience_core::lidar::CscEntityPositionManager::getPositionFromSimulator

(

)

const

get instant position from global environment simulator

getPositionListeners()

map< const string, CscEntityPositionManager::PositionUpdateListener > conscience_core::lidar::CscEntityPositionManager::getPositionListeners

(

)

const

getRealEntityAcceleration()

optional< CscPoint3d > conscience_core::lidar::CscEntityPositionManager::getRealEntityAcceleration

(

)

Note

this method is thread safe

Returns

the last known real entity accelaration if any, empty otherwise, or if simulated entity

registerPosition()

void conscience_core::lidar::CscEntityPositionManager::registerPosition	(	const CscPoint3dOriented *	position,
		float	certitude,
		CscEntityPositionSource	source,
		double	improbablePositionDistanceCm = 50,
		bool	forceRegisterPosition = false
	)

Parameters

position	will be cloned
certitude	from 0 (min) to 1.0 (max)
improbablePositionDistanceCm	used to reject a position if it is too far from previous ones

removePositionUpdateListener()

void conscience_core::lidar::CscEntityPositionManager::removePositionUpdateListener

(

const string &

listenerId

)

setGpsValid()

void conscience_core::lidar::CscEntityPositionManager::setGpsValid

(

bool

isValid

)

setRealEntityAcceleration()

void conscience_core::lidar::CscEntityPositionManager::setRealEntityAcceleration

(

optional< CscPoint3d >

acceleration

)

See also

CscEntityPositionManager::getRealEntityAcceleration()

---

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

• Lidar/CscEntityPositionManager.h
• Lidar/CscEntityPositionManager.cpp