BoxObstacle Class Reference

#include <PlannerObstacles.h>

Inheritance diagram for BoxObstacle:

Detailed Description

Definition at line 688 of file PlannerObstacles.h.

Public Types
enum	CornerOrder { TOP_UPPER_RIGHT, TOP_LOWER_RIGHT, TOP_LOWER_LEFT, TOP_UPPER_LEFT, BOTTOM_UPPER_RIGHT, BOTTOM_LOWER_RIGHT, BOTTOM_LOWER_LEFT, BOTTOM_UPPER_LEFT, NUM_CORNERS }
Public Member Functions
	BoxObstacle ()
	Default constructor.
	BoxObstacle (const fmat::SubVector< 3, const fmat::fmatReal > &centerPoint, const fmat::SubVector< 3, const fmat::fmatReal > &extents, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &orient)
	Pass the center, the extents from center (half-length, half-width and half-height), and a rotation.
	BoxObstacle (const BoundingBox3D &bb, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &rot, const fmat::SubVector< 3, const fmat::fmatReal > &off)
	Pass a bounding box and a transform... the transformation is applied relative to origin, e.g. the bb center will rotate about the origin.
BoxObstacle &	operator= (const BoxObstacle &o)
	Assignment, should not use plist::Dictionary version.
virtual void	reset (fmat::Column< 3 > centerPoint, const fmat::SubVector< 3, const fmat::fmatReal > &extents, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &rot)
	do a complete reset of parameters
virtual void	updatePosition (const fmat::SubVector< 3, const fmat::fmatReal > &newPos)
virtual void	rotate (const fmat::SubVector< 3, const fmat::fmatReal > &origin, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &rot)
virtual std::string	toString () const
	return current value as a string
virtual fmat::Column< 3 >	getCenter () const
	get center point of obstacle
virtual BoundingBox3D	getBoundingBox () const
	get boundaries of the current obstacle
virtual fmat::Matrix< 3, 3 >	getOrientation () const
virtual bool	collides (const fmat::SubVector< 3, const fmat::fmatReal > &point) const
bool	collides (const BoxObstacle &other) const
virtual fmat::Column< 3 >	getSupport (const fmat::SubVector< 3, const fmat::fmatReal > &direction) const
virtual fmat::Column< 3 >	gradient (const fmat::SubVector< 3, const fmat::fmatReal > &pt) const
float	getLength () const
	returns the length along 'local' axes
float	getWidth () const
	returns the width along 'local' axes
float	getHeight () const
	returns the height along 'local' axes
fmat::Column< 3 >	getExtents () const
	returns the half-width and half-height, suitable for easy use with reset()
fmat::Column< 3 >	getCorner (size_t i) const
	returns the specified corner point
virtual void	bloat (float amount)
	Increases the size of the obstacle in all directions by at least amount.
virtual void	contract (float amount)
	Decreases the size of the obstacle in all directions by at least amount.
virtual void	loadXML (xmlNode *node)
	This specialization looks for the SensorInfo::sensorType, then has the factory construct the correct subtype before loading the node into and returning that.
virtual void	saveXML (xmlNode *node) const
	subclasses are expected to provide a working implementation
virtual BoxObstacle *	clone () const __attribute__((warn_unused_result))
	clone definition for BoxObstacle
Protected Attributes
fmat::Column< 3 >	center
	Center of box.
fmat::Column< 3 >	minEx
	minimum extents (along box axes)
fmat::Column< 3 >	maxEx
	maximum extents (along box axes)
BoundingBox3D	bBox
	axis aligned bounding box
fmat::Matrix< 3, 3 >	unrot
	The rotation matrix to rotate from 'normal' coordinates to the obstacle orientation.
fmat::Matrix< 8, 3 >	points
	corner points for fast collision checking
Static Protected Attributes
static const std::string	autoRegisterName = PlannerObstacle3D::getRegistry().registerType<BoxObstacle>("Box")
	stores the class name used for polymorphic load/save

Member Enumeration Documentation

enum BoxObstacle::CornerOrder

Enumerator:

TOP_UPPER_RIGHT
TOP_LOWER_RIGHT
TOP_LOWER_LEFT
TOP_UPPER_LEFT
BOTTOM_UPPER_RIGHT
BOTTOM_LOWER_RIGHT
BOTTOM_LOWER_LEFT
BOTTOM_UPPER_LEFT
NUM_CORNERS

Definition at line 790 of file PlannerObstacles.h.

Constructor & Destructor Documentation

BoxObstacle::BoxObstacle ( )

Default constructor.

Definition at line 722 of file PlannerObstacles.h.

BoxObstacle::BoxObstacle	(	const fmat::SubVector< 3, const fmat::fmatReal > &	centerPoint,
		const fmat::SubVector< 3, const fmat::fmatReal > &	extents,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	orient
	)

Pass the center, the extents from center (half-length, half-width and half-height), and a rotation.

Definition at line 726 of file PlannerObstacles.h.

BoxObstacle::BoxObstacle	(	const BoundingBox3D &	bb,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	rot,
		const fmat::SubVector< 3, const fmat::fmatReal > &	off
	)

Pass a bounding box and a transform... the transformation is applied relative to origin, e.g. the bb center will rotate about the origin.

Definition at line 735 of file PlannerObstacles.h.

Member Function Documentation

void BoxObstacle::bloat ( float amount ) [virtual]

Increases the size of the obstacle in all directions by at least amount.

Definition at line 1226 of file PlannerObstacles.cc.

Referenced by contract().

BoxObstacle * BoxObstacle::clone ( ) const [virtual]

clone definition for BoxObstacle

Reimplemented from plist::DictionaryOf< PO, Alloc >.

Definition at line 22 of file PlannerObstacles.cc.

bool BoxObstacle::collides ( const BoxObstacle & other ) const

Definition at line 1090 of file PlannerObstacles.cc.

bool BoxObstacle::collides ( const fmat::SubVector< 3, const fmat::fmatReal > & point ) const [virtual]

Definition at line 1083 of file PlannerObstacles.cc.

virtual void BoxObstacle::contract ( float amount ) [virtual]

Decreases the size of the obstacle in all directions by at least amount.

Definition at line 809 of file PlannerObstacles.h.

virtual BoundingBox3D BoxObstacle::getBoundingBox ( ) const [virtual]

get boundaries of the current obstacle

Implements PlannerObstacle< N >.

Definition at line 769 of file PlannerObstacles.h.

virtual fmat::Column<3> BoxObstacle::getCenter ( ) const [virtual]

get center point of obstacle

Implements PlannerObstacle< N >.

Definition at line 768 of file PlannerObstacles.h.

Referenced by collides(), and ShapeSpacePlanner3DR< N >::plotPath().

fmat::Column<3> BoxObstacle::getCorner ( size_t i ) const

returns the specified corner point

Definition at line 803 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::getBoxes().

fmat::Column<3> BoxObstacle::getExtents ( ) const

returns the half-width and half-height, suitable for easy use with reset()

Definition at line 788 of file PlannerObstacles.h.

Referenced by collides(), ShapeSpacePlanner3DR< N >::getBoxes(), gradient(), ShapeSpacePlanner3DR< N >::plotPath(), and rotate().

float BoxObstacle::getHeight ( ) const

returns the height along 'local' axes

Definition at line 786 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::plotPath(), and saveXML().

float BoxObstacle::getLength ( ) const

returns the length along 'local' axes

Definition at line 782 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::plotPath(), and saveXML().

virtual fmat::Matrix<3,3> BoxObstacle::getOrientation ( ) const [virtual]

Definition at line 770 of file PlannerObstacles.h.

Referenced by collides(), gradient(), and ShapeSpacePlanner3DR< N >::plotPath().

fmat::Column< 3 > BoxObstacle::getSupport ( const fmat::SubVector< 3, const fmat::fmatReal > & direction ) const [virtual]

Definition at line 1174 of file PlannerObstacles.cc.

float BoxObstacle::getWidth ( ) const

returns the width along 'local' axes

Definition at line 784 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::plotPath(), and saveXML().

fmat::Column< 3 > BoxObstacle::gradient ( const fmat::SubVector< 3, const fmat::fmatReal > & pt ) const [virtual]

Definition at line 1208 of file PlannerObstacles.cc.

void BoxObstacle::loadXML ( xmlNode * node ) [virtual]

This specialization looks for the SensorInfo::sensorType, then has the factory construct the correct subtype before loading the node into and returning that.

From the name of node, will instantiate a new ObjectBase subclass to load it.

supports use of plist::ArrayOf<PlannerObstacle> for polymorphic load/save

The mapping from node names to actual instantiated types is:

'array' -> Vector
'dict' -> Map
'real' -> Primitive<double>
'integer' -> Primitive<long>
'string' -> Primitive<std::string>
'true', 'false' -> Primitive<bool>

If successful, returns a pointer to a newly allocated region, which the caller is responsible for freeing. If an error occurs, NULL is returned.

attempts to load a new T instance from the specified xmlNode

Reimplemented from plist::DictionaryBase.

Definition at line 1230 of file PlannerObstacles.cc.

BoxObstacle& BoxObstacle::operator= ( const BoxObstacle & o )

Assignment, should not use plist::Dictionary version.

Definition at line 745 of file PlannerObstacles.h.

void BoxObstacle::reset	(	fmat::Column< 3 >	centerPoint,
		const fmat::SubVector< 3, const fmat::fmatReal > &	extents,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	rot
	)			`[virtual]`

do a complete reset of parameters

Definition at line 1031 of file PlannerObstacles.cc.

Referenced by bloat(), BoxObstacle(), LinkComponent::getBB3D(), LinkComponent::getOwnBB3D(), loadXML(), and rotate().

void BoxObstacle::rotate	(	const fmat::SubVector< 3, const fmat::fmatReal > &	origin,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	rot
	)			`[virtual]`