VirtualRobot::WorkspaceDataArray Class Reference

Inheritance diagram for VirtualRobot::WorkspaceDataArray:

Public Member Functions
	WorkspaceDataArray (unsigned int size1, unsigned int size2, unsigned int size3, unsigned int size4, unsigned int size5, unsigned int size6, bool adjustOnOverflow)
	WorkspaceDataArray (WorkspaceDataArray *other)
	Clone other data structure. More...
	WorkspaceDataArray (std::ofstream &file)
	create Workspace out of file More...
	~WorkspaceDataArray () override
unsigned int	getSizeTr () const override
	Return the amount of data in bytes. More...
unsigned int	getSizeRot () const override
void	setDatum (float x[], unsigned char value, const WorkspaceRepresentation *workspace) override
void	setDatum (unsigned int x0, unsigned int x1, unsigned int x2, unsigned int x3, unsigned int x4, unsigned int x5, unsigned char value) override
void	setDatum (unsigned int x[6], unsigned char value) override
void	setDatumCheckNeighbors (unsigned int x[6], unsigned char value, unsigned int neighborVoxels) override
void	increaseDatum (float x[], const WorkspaceRepresentation *workspace) override
void	increaseDatum (unsigned int x0, unsigned int x1, unsigned int x2, unsigned int x3, unsigned int x4, unsigned int x5)
void	increaseDatum (unsigned int x[6])
void	setDataRot (unsigned char *data, unsigned int x, unsigned int y, unsigned int z) override
const unsigned char *	getDataRot (unsigned int x, unsigned int y, unsigned int z) override
unsigned char	get (float x[], const WorkspaceRepresentation *workspace) override
int	getMaxSummedAngleReachablity ()
unsigned char	get (unsigned int x0, unsigned int x1, unsigned int x2, unsigned int x3, unsigned int x4, unsigned int x5) override
	Simulates a multi-dimensional array access. More...
unsigned char	get (unsigned int x[6]) override
	Simulates a multi-dimensional array access. More...
bool	hasEntry (unsigned int x, unsigned int y, unsigned int z) override
void	clear () override
void	binarize () override
void	bisectData () override
unsigned int	getSize (int dim) override
unsigned char **	getRawData () override
WorkspaceData *	clone () override
bool	save (std::ofstream &file) override
void	reset (int x, int y, int z) override
Public Member Functions inherited from VirtualRobot::WorkspaceData
virtual	~WorkspaceData ()
virtual void	setVoxelFilledCount (int c)
virtual unsigned char	getMaxEntry ()
virtual void	setMaxEntry (unsigned char m)
virtual unsigned int	getVoxelFilledCount () const
virtual void	setMinValidValue (unsigned char v)
	Min valid value is 1 by default. In cases some values are needed to indicate special flags (e.g. stability) the minimum valid number can be set here. More...

Protected Member Functions
void	ensureData (unsigned int x, unsigned int y, unsigned int z)
int	sumAngleReachabilities (int x0, int x1, int x2)
void	getPos (unsigned int x0, unsigned int x1, unsigned int x2, unsigned int x3, unsigned int x4, unsigned int x5, unsigned int &storePosTr, unsigned int &storePosRot) const
void	getPos (unsigned int x[6], unsigned int &storePosTr, unsigned int &storePosRot) const

Protected Attributes
unsigned int	sizes [6]
unsigned int	sizeTr0
unsigned int	sizeTr1
unsigned int	sizeRot0
unsigned int	sizeRot1
unsigned char **	data
Protected Attributes inherited from VirtualRobot::WorkspaceData
unsigned char	minValidValue
unsigned char	maxEntry
unsigned int	voxelFilledCount
bool	adjustOnOverflow

Detailed Description

Stores a 6-dimensional array for the vertex data of a workspace representation. Internally unsigned char data types are used (0...255)

Constructor & Destructor Documentation

WorkspaceDataArray() [1/3]

VirtualRobot::WorkspaceDataArray::WorkspaceDataArray	(	unsigned int	size1,
		unsigned int	size2,
		unsigned int	size3,
		unsigned int	size4,
		unsigned int	size5,
		unsigned int	size6,
		bool	adjustOnOverflow
	)

Constructor, fills the data with 0

WorkspaceDataArray() [2/3]

VirtualRobot::WorkspaceDataArray::WorkspaceDataArray

(

WorkspaceDataArray *

other

)

Clone other data structure.

WorkspaceDataArray() [3/3]

VirtualRobot::WorkspaceDataArray::WorkspaceDataArray

(

std::ofstream &

file

)

create Workspace out of file

~WorkspaceDataArray()

VirtualRobot::WorkspaceDataArray::~WorkspaceDataArray ( )

override

Member Function Documentation

binarize()

void VirtualRobot::WorkspaceDataArray::binarize ( )

overridevirtual

Implements VirtualRobot::WorkspaceData.

bisectData()

void VirtualRobot::WorkspaceDataArray::bisectData ( )

overridevirtual

Implements VirtualRobot::WorkspaceData.

clear()

void VirtualRobot::WorkspaceDataArray::clear ( )

overridevirtual

Implements VirtualRobot::WorkspaceData.

clone()

WorkspaceData * VirtualRobot::WorkspaceDataArray::clone ( )

overridevirtual

Implements VirtualRobot::WorkspaceData.

ensureData()

void VirtualRobot::WorkspaceDataArray::ensureData ( unsigned int  x, unsigned int  y, unsigned int  z  )

protected

get() [1/3]

unsigned char VirtualRobot::WorkspaceDataArray::get ( float  x[], const WorkspaceRepresentation *  workspace  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

get() [2/3]

unsigned char VirtualRobot::WorkspaceDataArray::get ( unsigned int  x0, unsigned int  x1, unsigned int  x2, unsigned int  x3, unsigned int  x4, unsigned int  x5  )

inlineoverridevirtual

Simulates a multi-dimensional array access.

Implements VirtualRobot::WorkspaceData.

get() [3/3]

unsigned char VirtualRobot::WorkspaceDataArray::get ( unsigned int  x[6] )

inlineoverridevirtual

Simulates a multi-dimensional array access.

Implements VirtualRobot::WorkspaceData.

getDataRot()

const unsigned char * VirtualRobot::WorkspaceDataArray::getDataRot ( unsigned int  x, unsigned int  y, unsigned int  z  )

overridevirtual

Get rotation data for given x,y,z position.

Implements VirtualRobot::WorkspaceData.

getMaxSummedAngleReachablity()

int VirtualRobot::WorkspaceDataArray::getMaxSummedAngleReachablity

(

)

getPos() [1/2]

void VirtualRobot::WorkspaceDataArray::getPos ( unsigned int  x0, unsigned int  x1, unsigned int  x2, unsigned int  x3, unsigned int  x4, unsigned int  x5, unsigned int &  storePosTr, unsigned int &  storePosRot  ) const

inlineprotected

getPos() [2/2]

void VirtualRobot::WorkspaceDataArray::getPos ( unsigned int  x[6], unsigned int &  storePosTr, unsigned int &  storePosRot  ) const

inlineprotected

getRawData()

unsigned char** VirtualRobot::WorkspaceDataArray::getRawData ( )

inlineoverridevirtual

Implements VirtualRobot::WorkspaceData.

getSize()

unsigned int VirtualRobot::WorkspaceDataArray::getSize ( int  dim )

inlineoverridevirtual

Implements VirtualRobot::WorkspaceData.

getSizeRot()

unsigned int VirtualRobot::WorkspaceDataArray::getSizeRot ( ) const

overridevirtual

Implements VirtualRobot::WorkspaceData.

getSizeTr()

unsigned int VirtualRobot::WorkspaceDataArray::getSizeTr ( ) const

overridevirtual

Return the amount of data in bytes.

Implements VirtualRobot::WorkspaceData.

hasEntry()

bool VirtualRobot::WorkspaceDataArray::hasEntry ( unsigned int  x, unsigned int  y, unsigned int  z  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

increaseDatum() [1/3]

void VirtualRobot::WorkspaceDataArray::increaseDatum ( float  x[], const WorkspaceRepresentation *  workspace  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

increaseDatum() [2/3]

void VirtualRobot::WorkspaceDataArray::increaseDatum ( unsigned int  x0, unsigned int  x1, unsigned int  x2, unsigned int  x3, unsigned int  x4, unsigned int  x5  )

inline

increaseDatum() [3/3]

void VirtualRobot::WorkspaceDataArray::increaseDatum ( unsigned int  x[6] )

inline

reset()

void VirtualRobot::WorkspaceDataArray::reset ( int  x, int  y, int  z  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

save()

bool VirtualRobot::WorkspaceDataArray::save ( std::ofstream &  file )

overridevirtual

Implements VirtualRobot::WorkspaceData.

setDataRot()

void VirtualRobot::WorkspaceDataArray::setDataRot ( unsigned char *  data, unsigned int  x, unsigned int  y, unsigned int  z  )

overridevirtual

Set rotation data for given x,y,z position.

Implements VirtualRobot::WorkspaceData.

setDatum() [1/3]

void VirtualRobot::WorkspaceDataArray::setDatum ( float  x[], unsigned char  value, const WorkspaceRepresentation *  workspace  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

setDatum() [2/3]

void VirtualRobot::WorkspaceDataArray::setDatum ( unsigned int  x0, unsigned int  x1, unsigned int  x2, unsigned int  x3, unsigned int  x4, unsigned int  x5, unsigned char  value  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

setDatum() [3/3]

void VirtualRobot::WorkspaceDataArray::setDatum ( unsigned int  x[6], unsigned char  value  )

inlineoverridevirtual

Implements VirtualRobot::WorkspaceData.

setDatumCheckNeighbors()

void VirtualRobot::WorkspaceDataArray::setDatumCheckNeighbors ( unsigned int  x[6], unsigned char  value, unsigned int  neighborVoxels  )

overridevirtual

Implements VirtualRobot::WorkspaceData.

sumAngleReachabilities()

int VirtualRobot::WorkspaceDataArray::sumAngleReachabilities ( int  x0, int  x1, int  x2  )

protected

Field Documentation

data

unsigned char** VirtualRobot::WorkspaceDataArray::data

protected

sizeRot0

unsigned int VirtualRobot::WorkspaceDataArray::sizeRot0

protected

sizeRot1

unsigned int VirtualRobot::WorkspaceDataArray::sizeRot1

protected

sizes

unsigned int VirtualRobot::WorkspaceDataArray::sizes[6]

protected

sizeTr0

unsigned int VirtualRobot::WorkspaceDataArray::sizeTr0

protected

sizeTr1

unsigned int VirtualRobot::WorkspaceDataArray::sizeTr1

protected