BioXASXASScanActionController::BioXASXASScanActionController(BioXASXASScanConfiguration *configuration, QObject *parent) :
	AMGenericStepScanController(configuration, parent), BioXASScanController()
{
	useFeedback_ = true;
	setScan(scan_);

	bioXASConfiguration_ = configuration;

	// Setup exporter option.
	if (bioXASConfiguration_) {

		AMExporterOptionXDIFormat *bioXASDefaultXAS = BioXAS::buildStandardXDIFormatExporterOption("BioXAS XAS (XDI Format)", bioXASConfiguration_->edge().split(" ").first(), bioXASConfiguration_->edge().split(" ").last(), true);

		if (bioXASDefaultXAS->id() > 0)
			AMAppControllerSupport::registerClass<BioXASXASScanConfiguration, AMExporterXDIFormat, AMExporterOptionXDIFormat>(bioXASDefaultXAS->id());
	}

	// Add the Ge detectors spectra, if a Ge detector is being used.

	AMDetectorSet *geDetectors = BioXASBeamline::bioXAS()->ge32ElementDetectors();

	if (geDetectors) {

		for (int i = 0, detectorsCount = geDetectors->count(); i < detectorsCount; i++) {
			BioXAS32ElementGeDetector *geDetector = qobject_cast<BioXAS32ElementGeDetector*>(geDetectors->at(i));

			if (geDetector && bioXASConfiguration_->usingDetector(geDetector->name())) {

				// Add spectra.

				AMDetectorSet *elements = BioXASBeamline::bioXAS()->elementsForDetector(geDetector);

				if (elements) {
					for (int j = 0, elementsCount = elements->count(); j < elementsCount; j++) {
						AMDetector *element = elements->at(j);

						if (element && element->isConnected())
							bioXASConfiguration_->addDetector(element->toInfo());
					}
				}

				// Add ICRs, according to the preference set in the scan configuration.

				AMDetectorSet *icrDetectors = BioXASBeamline::bioXAS()->icrsForDetector(geDetector);

				if (icrDetectors && bioXASConfiguration_->canCollectICRs() && bioXASConfiguration_->collectICRsPreference()) {

					for (int j = 0, icrsCount = icrDetectors->count(); j < icrsCount; j++) {
						AMDetector *icrDetector = icrDetectors->at(j);

						if (icrDetector && icrDetector->isConnected())
							bioXASConfiguration_->addDetector(icrDetector->toInfo());
					}
				}
			}
		}
	}
}
Example #2
0
void CViewerContainer::showRangeScan(CNode* node)
{
	CRangeScanNode* obsNode = dynamic_cast<CRangeScanNode*>(node);
	ASSERT_(obsNode);

	auto obj = mrpt::make_aligned_shared<mrpt::opengl::CPlanarLaserScan>();
	obj->setScan(*(obsNode->observation().get()));
	obj->setPose(obsNode->getPose());
	obj->setSurfaceColor(1.0f, 0.0f, 0.0f, 0.5f);

	forEachGl([obsNode, obj](CGlWidget* gl) {
		gl->setSelected(obsNode->getPose().asTPose());
		gl->setLaserScan(obj);
	});
}
Example #3
0
bool UResPassable::doFullAnalysis(ULaserData * laserData, UPose pose,
                                  UPosRot laserPose,
                                  UObstaclePool * obsts, bool outdoorContext,
                                  double obstSearchExt,
                                 UResRoadLine * roads)
{
  double maxPassLeft;
  double maxPassRight;
  UPoseTime odoPose;
  double maxLineRange;
  //
  // debug
  //printf("doFullAnalysis scan %lu\n", laserData->getSerial());
  // debug end
  // get a fresh set of analysis oparameters
  getSettingsFromVarPool();
  // load sensor data into scan
  setScan(laserData, pose, &laserPose);
  // calculate variance along scan
  scan->setVariance(lineFitWidth, lineFitMinCnt);
  // divide into segments
  pisCnt = 0;
  makePassableIntervalsFit(&maxPassLeft, &maxPassRight, NULL, NULL, NULL);
  // pose for obstacle correlation
  odoPose.setPt(pose, laserData->getScanTime());
  // update road lines
  if (roads != NULL)
  {
    maxLineRange = laserData->getMaxValidRange() * 0.8;
    roads->update(laserData->getSerial(), pis, pisCnt, odoPose, &laserPose, maxLineRange);
  }
  // do not look for obstacles near max range (last 20% is deemed unreliable for obstacles
  if ((maxPassLeft + obstSearchExt) > (laserData->getMaxValidRange() * 0.8))
    maxPassLeft = laserData->getMaxValidRange() * 0.8 - obstSearchExt;
  if ((maxPassRight + obstSearchExt) > (laserData->getMaxValidRange() * 0.8))
    maxPassRight = laserData->getMaxValidRange() * 0.8 - obstSearchExt;
  // find and save obstacles in scan
  if (obsts != NULL)
    scan->findNearObstacles(obsts, odoPose, maxPassLeft, maxPassRight, varMinObstDist->getValued(),
                            outdoorContext, false, varIgnoreIfFixed->getBool(), obstSearchExt);
  else
    printf("UResPassable::doFullAnalysis Missing obstacle pool structure\n");
  return true;
}
Example #4
0
bool UResPassable::doObstAnalysis(ULaserData * laserData, UPose pose,
                                  UPosRot laserPose,
                                  UObstaclePool * obsts, bool outdoorContext)
{
  double maxPassLeft;
  double maxPassRight;
  UPoseTime odoPoseOrigin, mapPose, odoPose;
  int n;
  UVariable vpo1, vpo2;
//  UVariable * vpar[2] = {&vpo1, &vpo2};;
  UResPoseHist * mapPoseHist;
  //
  // get mapped obstacles in odometry coordinates
  mapPoseHist = (UResPoseHist*) getStaticResource("mapPose", false);
  if (mapPoseHist != NULL)
  { // use odo pose origin
    mapPose = mapPoseHist->getNewest();
    odoPoseOrigin = mapPoseHist->getOdoPoseOrigin();
    n = 1;
    vpo1.setPose(&mapPose);
    vpo2.setPose(&odoPoseOrigin);
//    fixeds->clear();
    // get near obstacles in odometry coordinate system
//    isOK = callGlobalV("mapobst.getobst", "cc", vpar, (UDataBase**)&fixeds, &n);
  }
  // get a fresh set of analysis oparameters
  getSettingsFromVarPool();
  // load sensor data into scan
  setScan(laserData, pose, &laserPose);
  // pose for obstacle correlation
  odoPose.setPt(pose, laserData->getScanTime());
/*  if (isOK)
    obsts->setFixedObstacles(fixeds);*/
  // do not look for obstacles near max range (last 20% is deemed unreliable for obstacles
  maxPassLeft = laserData->getMaxValidRange() * 0.9;
  maxPassRight = maxPassLeft;
  // find and save obstacles in scan
  scan->findNearObstacles(obsts, odoPose, maxPassLeft, maxPassRight, varMinObstDist->getValued(),
                            outdoorContext, true, varIgnoreIfFixed->getBool(), 0.0);
  return true;
}