class ColumbusTopographicMap


Full nameColumbus::ColumbusTopographicMap
Definition#include <columbustopographicmap.h>
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Detailed Description

 ColumbusTopographicMap (double density=.7,int width=50,int height=50)
throw (bad_exception)

ColumbusTopographicMap

Creates an empty map.

Parameters:
densityedge length of the grid squares
widthinitial map width in grid squares
heightinitial map height in grid squares

 ~ColumbusTopographicMap ()
throw()

~ColumbusTopographicMap

[virtual]

void  addChange (const double& xRobot,const double& yRobot,const double& visionAngle,const double& distance,Parser::object_type what)
throw (bad_exception)

addChange

[virtual]

Every time after having received both the commands "Coordiantes" and "Radar", the ServerState is to call this method.

Parameters:
xRobotx coordinate of the ServerState's robot
yRoboty coordinate of the ServerState's robot
visionAngleangle under which the ServerState's robot has received radar information, relative to the x axis
distancedistance from the ServerState's robot to the observed object
whatthe type of the observed object

const string&  debugStr (int x0=0,int x1=50,int x0=0,int y1=50)

debugStr

[virtual]

For debug needs during development

void  reset ()
throw()

reset

[virtual]

To be called when a new round on a new map starts

void  smallReset ()
throw()

smallReset

[virtual]

To be called when a new round on the same map starts

void  addWayPoint (int x,int y)
throw (bad_exception)

addWayPoint

[virtual]

Appends a new waypoint to the waypoint list

Parameters:
xx coordinate of the new waypoint
yy coordinate of the new waypoint

vector > _map

_map

[private]

double _densityR

_densityR

[private]

int _xmax

_xmax

[private]

int _ymax

_ymax

[private]

int _nWayPts

_nWayPts

[private]

RTBGlobal::pvector _wayPoints

_wayPoints

[private]

string _retval

_retval

[private]


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