CircularObstacle Class Reference
Circle/Sphere defined obstacle designated by a center point and a radius. More...
#include <PlannerObstacles.h>
Detailed Description
Circle/Sphere defined obstacle designated by a center point and a radius.
Definition at line 306 of file PlannerObstacles.h.
Public Member Functions | |
| CircularObstacle () | |
| Default constructor. | |
| CircularObstacle (fmat::fmatReal x, fmat::fmatReal y, fmat::fmatReal r) | |
| point and radius | |
| CircularObstacle (const fmat::Column< 2 > &c, fmat::fmatReal r) | |
| point and radius | |
| CircularObstacle & | operator= (const CircularObstacle &o) |
| Assignment, should not use plist::Dictionary version. | |
| virtual bool | collides (const fmat::SubVector< 2, const fmat::fmatReal > &point) const |
| Test if the circle includes a specific point. | |
| bool | collides (const CircularObstacle &other) const |
| virtual fmat::Column< 2 > | getSupport (const fmat::SubVector< 2, const fmat::fmatReal > &direction) const |
| virtual fmat::Column< 2 > | getCenter () const |
| get center point of obstacle | |
| virtual fmat::fmatReal | getRadius () const |
| virtual void | setRadius (fmat::fmatReal r) |
| virtual void | updatePosition (const fmat::SubVector< 2, const fmat::fmatReal > &newPos) |
| virtual void | rotate (const fmat::SubVector< 2, const fmat::fmatReal > &origin, const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &rot) |
| virtual BoundingBox2D | getBoundingBox () const |
| get boundaries of the current obstacle | |
| virtual fmat::Column< 2 > | gradient (const fmat::SubVector< 2, const fmat::fmatReal > &pt) const |
| virtual std::string | toString () const |
| return current value as a string | |
| 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 CircularObstacle * | clone () const __attribute__((warn_unused_result)) |
| clone definition for CircularObstacle | |
Protected Attributes | |
| fmat::Column< 2 > | center |
| Center of the obstacle. | |
| fmat::fmatReal | radius |
| Radius of the obstacle. | |
Static Protected Attributes | |
| static const std::string | autoRegisterName = PlannerObstacle2D::getRegistry().registerType<CircularObstacle>("Circle") |
| stores the class name used for polymorphic load/save | |
Constructor & Destructor Documentation
| CircularObstacle::CircularObstacle | ( | ) |
Default constructor.
Definition at line 319 of file PlannerObstacles.h.
| CircularObstacle::CircularObstacle | ( | fmat::fmatReal | x, | |
| fmat::fmatReal | y, | |||
| fmat::fmatReal | r | |||
| ) |
point and radius
Definition at line 323 of file PlannerObstacles.h.
| CircularObstacle::CircularObstacle | ( | const fmat::Column< 2 > & | c, | |
| fmat::fmatReal | r | |||
| ) |
point and radius
Definition at line 327 of file PlannerObstacles.h.
Member Function Documentation
| virtual void CircularObstacle::bloat | ( | float | amount | ) | [virtual] |
Increases the size of the obstacle in all directions by at least amount.
Definition at line 370 of file PlannerObstacles.h.
| CircularObstacle * CircularObstacle::clone | ( | ) | const [virtual] |
clone definition for CircularObstacle
Reimplemented from plist::DictionaryOf< PO, Alloc >.
Definition at line 18 of file PlannerObstacles.cc.
| bool CircularObstacle::collides | ( | const CircularObstacle & | other | ) | const |
Definition at line 376 of file PlannerObstacles.cc.
| virtual bool CircularObstacle::collides | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | point | ) | const [virtual] |
Test if the circle includes a specific point.
Definition at line 341 of file PlannerObstacles.h.
| virtual void CircularObstacle::contract | ( | float | amount | ) | [virtual] |
Decreases the size of the obstacle in all directions by at least amount.
Definition at line 372 of file PlannerObstacles.h.
| virtual BoundingBox2D CircularObstacle::getBoundingBox | ( | ) | const [virtual] |
get boundaries of the current obstacle
Implements PlannerObstacle< N >.
Definition at line 361 of file PlannerObstacles.h.
| virtual fmat::Column<2> CircularObstacle::getCenter | ( | ) | const [virtual] |
get center point of obstacle
Implements PlannerObstacle< N >.
Definition at line 349 of file PlannerObstacles.h.
Referenced by ConvexPolyObstacle::collides(), RectangularObstacle::collides(), and rotate().
| virtual fmat::fmatReal CircularObstacle::getRadius | ( | ) | const [virtual] |
Definition at line 350 of file PlannerObstacles.h.
Referenced by ConvexPolyObstacle::collides(), and RectangularObstacle::collides().
| fmat::Column< 2 > CircularObstacle::getSupport | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | direction | ) | const [virtual] |
Definition at line 382 of file PlannerObstacles.cc.
| fmat::Column< 2 > CircularObstacle::gradient | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | pt | ) | const [virtual] |
Definition at line 362 of file PlannerObstacles.cc.
| void CircularObstacle::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 386 of file PlannerObstacles.cc.
| CircularObstacle& CircularObstacle::operator= | ( | const CircularObstacle & | o | ) |
Assignment, should not use plist::Dictionary version.
Definition at line 331 of file PlannerObstacles.h.
| virtual void CircularObstacle::rotate | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | origin, | |
| const fmat::SubMatrix< 2, 2, const fmat::fmatReal > & | rot | |||
| ) | [virtual] |
Definition at line 356 of file PlannerObstacles.h.
| void CircularObstacle::saveXML | ( | xmlNode * | node | ) | const [virtual] |
subclasses are expected to provide a working implementation
Reimplemented from plist::DictionaryBase.
Definition at line 398 of file PlannerObstacles.cc.
| virtual void CircularObstacle::setRadius | ( | fmat::fmatReal | r | ) | [virtual] |
Definition at line 351 of file PlannerObstacles.h.
| std::string CircularObstacle::toString | ( | ) | const [virtual] |
return current value as a string
Reimplemented from PlannerObstacle< N >.
Definition at line 370 of file PlannerObstacles.cc.
| virtual void CircularObstacle::updatePosition | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | newPos | ) | [virtual] |
Definition at line 353 of file PlannerObstacles.h.
Referenced by rotate().
Member Data Documentation
const std::string CircularObstacle::autoRegisterName = PlannerObstacle2D::getRegistry().registerType<CircularObstacle>("Circle") [static, protected] |
stores the class name used for polymorphic load/save
Definition at line 309 of file PlannerObstacles.h.
fmat::Column<2> CircularObstacle::center [protected] |
Center of the obstacle.
Definition at line 312 of file PlannerObstacles.h.
Referenced by collides(), getBoundingBox(), getCenter(), getSupport(), gradient(), loadXML(), operator=(), saveXML(), toString(), and updatePosition().
fmat::fmatReal CircularObstacle::radius [protected] |
Radius of the obstacle.
Definition at line 315 of file PlannerObstacles.h.
Referenced by bloat(), collides(), contract(), getBoundingBox(), getRadius(), getSupport(), gradient(), loadXML(), operator=(), saveXML(), setRadius(), and toString().
The documentation for this class was generated from the following files:
