#include <layer.h>

Inheritance diagram for flatland_server::Layer:

Collaboration diagram for flatland_server::Layer:

[legend]

Public Member Functions
	Layer (b2World physics_world, CollisionFilterRegistry cfr, const std::vector< std::string > &names, const Color &color, const Pose &origin, const cv::Mat &bitmap, double occupied_thresh, double resolution, const YAML::Node &properties)
	Constructor for the Layer class for initialization using a image map file. More...

	Layer (b2World physics_world, CollisionFilterRegistry cfr, const std::vector< std::string > &names, const Color &color, const Pose &origin, const std::vector< LineSegment > &line_segments, double scale, const YAML::Node &properties)
	Constructor for the Layer class for initialization using line segments. More...

	Layer (b2World physics_world, CollisionFilterRegistry cfr, const std::vector< std::string > &names, const Color &color, const YAML::Node &properties)
	Constructor for the Layer class for initialization with no static map in it. More...

	~Layer ()
	Destructor for the layer class.

const std::vector< std::string > &	GetNames () const

const CollisionFilterRegistry *	GetCfr () const

Body *	GetBody ()

EntityType	Type () const
	Return the type of entity. More...

void	LoadFromBitmap (const cv::Mat &bitmap, double occupied_thresh, double resolution)
	Load the map by extracting edges from images. More...

void	DebugVisualize () const override
	Visualize layer for debugging purposes.

void	DebugOutput () const override
	log debug messages for the layer

Public Member Functions inherited from flatland_server::Entity
	Entity (b2World *physics_world, const std::string &name)
	Constructor for the entity. More...

const std::string &	GetName () const

b2World *	GetPhysicsWorld ()
	Get Box2D physics world. More...

	Entity (const Entity &)=delete

Entity &	operator= (const Entity &)=delete

Static Public Member Functions
static void	ReadLineSegmentsFile (const std::string &file_path, std::vector< LineSegment > &line_segments)
	Read line segments from a file, each line of a file represents a line segment in the form of x1 y1 x2 y2. More...

static Layer *	MakeLayer (b2World physics_world, CollisionFilterRegistry cfr, const std::string &map_path, const std::vector< std::string > &names, const Color &color, const YAML::Node &properties)
	Factory method to instantiate a layer, throws exceptions upon failure. More...

Public Attributes
std::vector< std::string >	names_
	list of layer names

Body *	body_ = nullptr

CollisionFilterRegistry *	cfr_
	collision filter registry

std::string	viz_name_
	for visualization

Public Attributes inherited from flatland_server::Entity
b2World *	physics_world_
	Box2D physics world.

std::string	name_
	name of the entity

Additional Inherited Members
Public Types inherited from flatland_server::Entity
enum	EntityType { LAYER, MODEL }
	Defines the type of entity.

Detailed Description

This class defines a layer in the simulation world which simulates the environment in the world

Constructor & Destructor Documentation

flatland_server::Layer::Layer	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::vector< std::string > &	names,
		const Color &	color,
		const Pose &	origin,
		const cv::Mat &	bitmap,
		double	occupied_thresh,
		double	resolution,
		const YAML::Node &	properties
	)

Constructor for the Layer class for initialization using a image map file.

Parameters

[in]	physics_world	Pointer to the box2d physics world
[in]	cfr	Collision filter registry
[in]	names	A list of names for the layer, the first name is used for the name of the body
[in]	color	Color in the form of r, g, b, a, used for visualization
[in]	origin	Coordinate of the lower left corner of the image, in the form of x, y, theta
[in]	occupied_thresh	Threshold indicating obstacle if above
[in]	bitmap	Matrix containing the map image
[in]	resolution	Resolution of the map image in meters per pixel
[in]	properties	A YAML node containing properties for plugins to use

flatland_server::Layer::Layer	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::vector< std::string > &	names,
		const Color &	color,
		const Pose &	origin,
		const std::vector< LineSegment > &	line_segments,
		double	scale,
		const YAML::Node &	properties
	)

Constructor for the Layer class for initialization using line segments.

Parameters

[in]	physics_world	Pointer to the box2d physics world
[in]	cfr	Collision filter registry
[in]	names	A list of names for the layer, the first name is used for the name of the body
[in]	color	Color in the form of r, g, b, a, used for visualization
[in]	origin	Coordinate of the lower left corner of the image, in the form of x, y, theta
[in]	line_segments	List of line segments
[in]	scale	Scale to apply to the line segment end points, works in the same way as resolution
[in]	properties	A YAML node containing properties for plugins to use

flatland_server::Layer::Layer	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::vector< std::string > &	names,
		const Color &	color,
		const YAML::Node &	properties
	)

Constructor for the Layer class for initialization with no static map in it.

Parameters

[in]	physics_world	Pointer to the box2d physics world
[in]	cfr	Collision filter registry
[in]	names	A list of names for the layer, the first name is used for the name of the body
[in]	properties	A YAML node containing properties for plugins to use

Member Function Documentation

const CollisionFilterRegistry * flatland_server::Layer::GetCfr ( ) const

Returns: The collision filter registrar

const std::vector< std::string > & flatland_server::Layer::GetNames ( ) const

Returns: The list of names the layer has

void flatland_server::Layer::LoadFromBitmap	(	const cv::Mat &	bitmap,
		double	occupied_thresh,
		double	resolution
	)

Load the map by extracting edges from images.

Parameters

[in]	bitmap	OpenCV Image
[in]	occupied_thresh	Threshold indicating obstacle if above
[in]	resolution	Resolution of the map image in meters per pixel

Layer * flatland_server::Layer::MakeLayer	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::string &	map_path,
		const std::vector< std::string > &	names,
		const Color &	color,
		const YAML::Node &	properties
	)

static

Factory method to instantiate a layer, throws exceptions upon failure.

Parameters

[in]	physics_world	Pointer to the box2d physics world
[in]	cfr	Collision filter registry
[in]	map_path	Path to the file containing layer data
[in]	names	A list of names for the layer, the first name is used for the name of the body. All names are registered in the CFR. Multiple names allow the physics body to be used as if there are multiple layers
[in]	color	Color of the layer file, this is used to calculate the path to the layermap yaml file
[in]	properties	A YAML node containing properties for plugins to use

Returns: A new layer

void flatland_server::Layer::ReadLineSegmentsFile	(	const std::string &	file_path,
		std::vector< LineSegment > &	line_segments
	)

static

Read line segments from a file, each line of a file represents a line segment in the form of x1 y1 x2 y2.

Parameters

[in]	file_path	Path to the file
[out]	line_segments	Line segments obtained from the file

EntityType flatland_server::Layer::Type ( ) const

inlinevirtual

Return the type of entity.

Returns: type indicating it is a layer

Implements flatland_server::Entity.

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

flatland_server/include/flatland_server/layer.h
flatland_server/src/layer.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation