C++ SegmentList::push_back方法代码示例

void getInputSegments(){
    segments.push_back(Line(20, 55, 60, 55)); 
    segments.push_back(Line(20, 5, 20, 55)); //TODO: real input
    segments.push_back(Line(60, 5, 20, 5)); 
    segments.push_back(Line(60, 55, 60, 5));
    //segments.push_back(Line(20, 5, 40, 63));
    
    planner = PathPlanner(segments);
    planner.populateTrajectory();
    StateTrajectory* traj = planner.getPathTrajectory();
    for (int i = 0; i < traj->size(); i++){
        cout << traj->at(i).toString() << endl;
    }
}

void QSegmentWidget::clearSegment(int cyl, qreal startAngle, qreal stopAngle)
{
  Segment s(startAngle, stopAngle, QColor(Qt::black));
  SegmentList sl;
  sl.push_back(s);
  clearSegments(cyl, sl);
}

static void
bufferLinesToLines( const GeoShape& input, double b, GeoShape& output )
{
    // buffering lines turns them into polygons
    for( GeoPartList::const_iterator i = input.getParts().begin(); i != input.getParts().end(); i++ )
    {
        const GeoPointList& part = *i;
        if ( part.size() < 2 ) continue;

        GeoPointList new_part;

        // collect all the shifted segments:
        SegmentList segments;
        for( GeoPointList::const_iterator j = part.begin(); j != part.end()-1; j++ )
        {
            const osg::Vec3d& p0 = *j;
            const osg::Vec3d& p1 = *(j+1);

            osg::Vec3d d = p1-p0; d.normalize();

            osg::Vec3d b0( p0.x() + b*d.y(), p0.y() - b*d.x(), p1.z() );
            osg::Vec3d b1( p1.x() + b*d.y(), p1.y() - b*d.x(), p1.z() );
            segments.push_back( Segment( b0, b1 ) );
        }

        // then intersect each pair of shifted segments to find the new verts:
        for( SegmentList::iterator k = segments.begin(); k != segments.end()-1; k++ )
        {
            Segment& s0 = *k;
            Segment& s1 = *(k+1); //(k+1) != segments.end()? *(k+1) : *segments.begin();

            if ( k == segments.begin() )
            {
                GeoPoint first( s0.p0, part[0].getSRS() );
                first.setDim( part[0].getDim() );
                new_part.push_back( first );
            }

            osg::Vec3d isect;
            if ( getLineIntersection( s0, s1, isect ) )
            {
                GeoPoint r( isect, part[0].getSRS() );
                r.setDim( part[0].getDim() );
                new_part.push_back( r );
            }

            if ( k == segments.end()-2 )
            {
                GeoPoint last( s1.p1, part[0].getSRS() );
                last.setDim( part[0].getDim() );
                new_part.push_back( last );
            }
        }

        if ( new_part.size() > 1 )
            output.getParts().push_back( new_part );
    }
}

void QSegmentWidget::addSegment(int cyl, qreal startAngle, qreal stopAngle, QColor color)
{
//  Segment s(startAngle, stopAngle, color);
    QSegmentWidget::Segment s;
    s.first = startAngle;
    s.second = stopAngle;
    s.color = color;

  SegmentList sl;
  sl.push_back(s);
  addSegments(cyl, sl);
}

SegmentList SegmentList::clone() const
      {
      SegmentList dl;
      Segment* s = _first;
      for (int i = 0; i < _size; ++i) {
            Segment* ns = s->clone();
            dl.push_back(ns);
            s = s->next();
            }
      dl.check();
      return dl;
      }

static void
bufferPolygons( const GeoShape& shape, double b, GeoPartList& output )
{
    for( GeoPartList::const_iterator i = shape.getParts().begin(); i != shape.getParts().end(); i++ )
    {
        const GeoPointList& part = *i;
        if ( part.size() < 3 )
            continue;

        GeoPointList new_part;

        // first build the buffered line segments:
        SegmentList segments;
        for( GeoPointList::const_iterator j = part.begin(); j != part.end(); j++ )
        {
            const osg::Vec3d& p0 = *j;
            const osg::Vec3d& p1 = (j+1) != part.end()? *(j+1) : *part.begin();

            osg::Vec3d d = p1-p0;
            d.normalize();

            osg::Vec3d b0( p0.x() + b*d.y(), p0.y() - b*d.x(), p1.z() );
            osg::Vec3d b1( p1.x() + b*d.y(), p1.y() - b*d.x(), p1.z() );
            segments.push_back( Segment( b0, b1 ) );
        }

        // then intersect each pair of segments to find the new verts:
        for( SegmentList::iterator k = segments.begin(); k != segments.end(); k++ )
        {
            Segment& s0 = *k;
            Segment& s1 = (k+1) != segments.end()? *(k+1) : *segments.begin();

            osg::Vec3d isect;
            if ( getLineIntersection( s0, s1, isect ) )
            {
                GeoPoint r( isect, part[0].getSRS() );
                r.setDim( part[0].getDim() );
                new_part.push_back( r );
            }
        }

        if ( new_part.size() > 2 )
            output.push_back( new_part );
    }
}

BlobImageProcessorYUV::SegmentList BlobImageProcessorYUV::getSegments(int y, /*const*/ Image &image) const {
#else
BlobImageProcessorYUV::SegmentList BlobImageProcessorYUV::getSegments(int y, const Image &image) const {
#endif
	SegmentList segments;
	Segment cursegment = { -1, -1 };
	int gapcount = 0;
	int x;

	for (x=0; x<image.getWidth(); x++) {
		Pixel pixel = image.getPixel(x, y);
		if (checkModels(pixel)) { // if the pixel is valid

            #ifdef ENABLE_BLUEMARKER
            if(enable_bluemarker)
            {
                // Added by Jeremy
                //Pixel *bluemarker = new Pixel(0, 0, 255);
                Pixel *bluemarker = new Pixel(29, 255, 107); // YUV for blue
                image.setPixel(x, y, *bluemarker); // Mark pixel as bright blue for a match
                delete(bluemarker);
            }
            #endif

			if (cursegment.start == -1) { // if its the first pixel in a row
				cursegment.start = x; // start a new segment
				if (debug)
					cout << "New segment starting at (" << x << "," << y << ")" << endl;
			}

			gapcount = 0; // any valid pixel resets the gap counter
		} else if (cursegment.start >= 0) { // pixel not valid, but we're in a row
			if (++gapcount > maxgapdist) { // if we've exceeded the maximum gap count
				cursegment.end = x - maxgapdist; // set the end of the segment
				if (cursegment.end - cursegment.start >= minsegmentsize) { // if the segment is large enough
					segments.push_back(cursegment); // save it
					if (debug)
						cout << "segment saved, ends at " << cursegment.end << endl;
				} else {
					if (debug)
						cout << "segment rejected due to width (" << cursegment.end - cursegment.start << ")" << endl;
				}
				cursegment.start = -1;
			}
		}
	}

	// if a segment goes off the side of the image, but is wide enough
	if (cursegment.start > 0) {
		if (image.getWidth() - cursegment.start >= minsegmentsize) {
			cursegment.end = image.getWidth()-1-gapcount;
			segments.push_back(cursegment);
			if (debug)
				cout << "Saving segment, hit edge of screen" << endl;
		} else {
			if (debug)
				cout << "Segment hit edge of screen, rejected due to width (" << cursegment.end - cursegment.start << "(" << endl;
		}
	}

	return segments;
}

 void initializeDefaultSegments(){
     segments.push_back(Line(20, 55, 60, 55)); 
     segments.push_back(Line(20, 5, 20, 55)); //TODO: real input
     segments.push_back(Line(60, 5, 20, 5)); 
     segments.push_back(Line(60, 55, 60, 5));
 }