C++ ArSensorReading::setIgnoreThisReading方法代码示例

void ArLaser::laserProcessReadings(void)
{
  // if we have no readings... don't do anything
  if (myRawReadings == NULL || myRawReadings->begin() == myRawReadings->end())
    return;

  std::list<ArSensorReading *>::iterator sensIt;
  ArSensorReading *sReading;
  double x, y;
  double lastX = 0.0, lastY = 0.0;
  //unsigned int i = 0;
  ArTime len;
  len.setToNow();

  bool clean;
  if (myCumulativeCleanInterval <= 0 ||
      (myCumulativeLastClean.mSecSince() > 
       myCumulativeCleanInterval))
  {
    myCumulativeLastClean.setToNow();
    clean = true;
  }
  else
  {
    clean = false;
  }
  
  myCurrentBuffer.setPoseTaken(myRawReadings->front()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myRawReadings->front()->getEncoderPoseTaken());
  myCurrentBuffer.beginRedoBuffer();	  

  // walk the buffer of all the readings and see if we want to add them
  for (sensIt = myRawReadings->begin(); 
       sensIt != myRawReadings->end(); 
       ++sensIt)
  {
    sReading = (*sensIt);

    // if we have ignore readings then check them here
    if (!myIgnoreReadings.empty() && 
	(myIgnoreReadings.find(
		(int) ceil(sReading->getSensorTh())) != 
	 myIgnoreReadings.end()) || 
	myIgnoreReadings.find(
		(int) floor(sReading->getSensorTh())) != 
	myIgnoreReadings.end())
      sReading->setIgnoreThisReading(true);

    // see if the reading is valid
    if (sReading->getIgnoreThisReading())
      continue;

    // if we have a max range then check it here... 
    if (myMaxRange != 0 && 
	sReading->getRange() > myMaxRange)
    {
      sReading->setIgnoreThisReading(true);
    }

    // see if the reading is valid... this is set up this way so that
    // max range readings can cancel out other readings, but will
    // still be ignored other than that... ones ignored for other
    // reasons were skipped above
    if (sReading->getIgnoreThisReading())
    {
      internalProcessReading(sReading->getX(), sReading->getY(), 
			     sReading->getRange(), clean, true);
      continue;
    }

    // get our coords
    x = sReading->getX();
    y = sReading->getY();
    
    // see if we're checking on the filter near dist... if we are
    // and the reading is a good one we'll check the cumulative
    // buffer
    if (myMinDistBetweenCurrentSquared > 0.0000001)
    {
      // see where the last reading was
      //squaredDist = (x-lastX)*(x-lastX) + (y-lastY)*(y-lastY);
      // see if the reading is far enough from the last reading
      if (ArMath::squaredDistanceBetween(x, y, lastX, lastY) > 
	  myMinDistBetweenCurrentSquared)
      {
	lastX = x;
	lastY = y;
	// since it was a good reading, see if we should toss it in
	// the cumulative buffer... 
	internalProcessReading(x, y, sReading->getRange(), clean, false);
	
	/* we don't do this part anymore since it wound up leaving
	// too many things not really tehre... if its outside of our
	// sensor angle to use to filter then don't let this one
	// clean  (ArMath::fabs(sReading->getSensorTh()) > 50)
	// filterAddAndCleanCumulative(x, y, false); else*/
      }
      // it wasn't far enough, skip this one and go to the next one
      else
//.........这里部分代码省略.........

void ArLaserFilter::processReadings(void)
{
  myLaser->lockDevice();
  selfLockDevice();

  const std::list<ArSensorReading *> *rdRawReadings;
  std::list<ArSensorReading *>::const_iterator rdIt;
  
  if ((rdRawReadings = myLaser->getRawReadings()) == NULL)
  {
    selfUnlockDevice();
    myLaser->unlockDevice();
    return;
  }

  size_t rawSize = myRawReadings->size();
  size_t rdRawSize = myLaser->getRawReadings()->size();
  
  while (rawSize < rdRawSize)
  {
    myRawReadings->push_back(new ArSensorReading);
    rawSize++;
  }

  // set where the pose was taken
  myCurrentBuffer.setPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getEncoderPoseTaken());


  std::list<ArSensorReading *>::iterator it;
  ArSensorReading *rdReading;
  ArSensorReading *reading;

#ifdef DEBUGRANGEFILTER
  FILE *file = NULL;
  file = ArUtil::fopen("/mnt/rdsys/tmp/filter", "w");
#endif

  std::map<int, ArSensorReading *> readingMap;
  int numReadings = 0;

  // first pass to copy the readings and put them into a map
  for (rdIt = rdRawReadings->begin(), it = myRawReadings->begin();
       rdIt != rdRawReadings->end() && it != myRawReadings->end();
       rdIt++, it++)
  {
    rdReading = (*rdIt);
    reading = (*it);
    *reading = *rdReading;
    
    readingMap[numReadings] = reading;
    numReadings++;
  }
  
  char buf[1024];
  int i;
  int j;
  ArSensorReading *lastAddedReading = NULL;
  
  // now walk through the readings to filter them
  for (i = 0; i < numReadings; i++)
  {
    reading = readingMap[i];

    // if we're ignoring this reading then just get on with life
    if (reading->getIgnoreThisReading())
      continue;

    if (myMaxRange >= 0 && reading->getRange() > myMaxRange)
    {
      reading->setIgnoreThisReading(true);
      continue;
    }
      
    if (lastAddedReading != NULL)
    {

      if (lastAddedReading->getPose().findDistanceTo(reading->getPose()) < 50)
      {
#ifdef DEBUGRANGEFILTER
	if (file != NULL)
	  fprintf(file, "%.1f too close from last %6.0f\n", 
		  reading->getSensorTh(),
		  lastAddedReading->getPose().findDistanceTo(
			  reading->getPose()));
#endif
	reading->setIgnoreThisReading(true);
	continue;
      }
#ifdef DEBUGRANGEFILTER
      else if (file != NULL)
	fprintf(file, "%.1f from last %6.0f\n", 
		reading->getSensorTh(),
		lastAddedReading->getPose().findDistanceTo(
			reading->getPose()));
#endif
    }

//.........这里部分代码省略.........

void ArLaserFilter::processReadings(void)
{
  myLaser->lockDevice();
  selfLockDevice();

  const std::list<ArSensorReading *> *rdRawReadings;
  std::list<ArSensorReading *>::const_iterator rdIt;
  
  if ((rdRawReadings = myLaser->getRawReadings()) == NULL)
  {
    selfUnlockDevice();
    myLaser->unlockDevice();
    return;
  }

  size_t rawSize = myRawReadings->size();
  size_t rdRawSize = myLaser->getRawReadings()->size();
  
  while (rawSize < rdRawSize)
  {
    myRawReadings->push_back(new ArSensorReading);
    rawSize++;
  }

  // set where the pose was taken
  myCurrentBuffer.setPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getEncoderPoseTaken());


  std::list<ArSensorReading *>::iterator it;
  ArSensorReading *rdReading;
  ArSensorReading *reading;

#ifdef DEBUGRANGEFILTER
  FILE *file = NULL;
  //file = ArUtil::fopen("/mnt/rdsys/tmp/filter", "w");
  file = ArUtil::fopen("/tmp/filter", "w");
#endif

  std::map<int, ArSensorReading *> readingMap;
  int numReadings = 0;

  // first pass to copy the readings and put them into a map
  for (rdIt = rdRawReadings->begin(), it = myRawReadings->begin();
       rdIt != rdRawReadings->end() && it != myRawReadings->end();
       rdIt++, it++)
  {
    rdReading = (*rdIt);
    reading = (*it);
    *reading = *rdReading;

    readingMap[numReadings] = reading;
    numReadings++;
  }

  // if we're not doing any filtering, just short circuit out now
  if (myAllFactor <= 0 && myAnyFactor <= 0 && myAnyMinRange <= 0)
  {
    laserProcessReadings();
    copyReadingCount(myLaser);

    selfUnlockDevice();
    myLaser->unlockDevice();
#ifdef DEBUGRANGEFILTER
    if (file != NULL)
      fclose(file);
#endif
    return;
  }
  
  char buf[1024];
  int i;
  int j;
  //ArSensorReading *lastAddedReading = NULL;
  
  // now walk through the readings to filter them
  for (i = 0; i < numReadings; i++)
  {
    reading = readingMap[i];

    // if we're ignoring this reading then just get on with life
    if (reading->getIgnoreThisReading())
      continue;

    /* Taking this check out since the base class does it now and if
     * it gets marked ignore now it won't get used for clearing
     * cumulative readings

    if (myMaxRange >= 0 && reading->getRange() > myMaxRange)
    {
#ifdef DEBUGRANGEFILTER
      if (file != NULL)
	fprintf(file, "%.1f beyond max range at %d\n", 
		reading->getSensorTh(), reading->getRange());
#endif
      reading->setIgnoreThisReading(true);
      continue;
    }
//.........这里部分代码省略.........