ConvexPolyObstacle Class Reference
Manages collision detection with convex polygons. More...
#include <PlannerObstacles.h>
Detailed Description
Manages collision detection with convex polygons.
Basically the same algorithm used for rectangles, just generalized for more sides
Definition at line 501 of file PlannerObstacles.h.
Public Member Functions | |
| ConvexPolyObstacle () | |
| the 'outside' normal of segment following corresponding entry in points | |
| ConvexPolyObstacle & | operator= (const ConvexPolyObstacle &o) |
| Assignment, should not use plist::Dictionary version. | |
| const std::vector < fmat::Column< 2 > > & | getPoints () const |
| returns the points, in counter-clockwise order | |
| const std::vector < fmat::Column< 2 > > & | getNormals () const |
| returns the normals, in counter-clockwise order | |
| void | hull (const std::set< fmat::Column< 2 > > &p) |
| Selects points which form a convex hull, clears current points. | |
| void | clear () |
| remove all points and normals | |
| void | addPoint (const fmat::Column< 2 > &p) |
| Add a point to the polygon, must maintain convexity and in counter-clockwise order, call close() when done. | |
| void | close () |
| Calculates values for final segment of polygon, call after a series of addPoint(). | |
| virtual bool | collides (const fmat::SubVector< 2, const fmat::fmatReal > &point) const |
| Test if the polygon includes a specific point. | |
| bool | collides (const RectangularObstacle &other) const |
| For polygon on rectangle collision. | |
| bool | collides (const CircularObstacle &other) const |
| For polygon on circle collision. | |
| bool | collides (const ConvexPolyObstacle &other) const |
| For polygon on polygon collision. | |
| 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 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 void | offset (const fmat::Column< 2 > &off) |
| 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 | 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 ConvexPolyObstacle * | clone () const __attribute__((warn_unused_result)) |
| clone definition for ConvexPolyObstacle | |
Protected Attributes | |
| std::vector< fmat::Column< 2 > > | points |
| std::vector< fmat::Column< 2 > > | normals |
| the points of the polygon, in counter-clockwise order | |
Static Protected Attributes | |
| static const std::string | autoRegisterName = PlannerObstacle2D::getRegistry().registerType<ConvexPolyObstacle>("ConvexPoly") |
| stores the class name used for polymorphic load/save | |
Constructor & Destructor Documentation
| ConvexPolyObstacle::ConvexPolyObstacle | ( | ) |
the 'outside' normal of segment following corresponding entry in points
default constructor
Definition at line 511 of file PlannerObstacles.h.
Member Function Documentation
| void ConvexPolyObstacle::addPoint | ( | const fmat::Column< 2 > & | p | ) |
Add a point to the polygon, must maintain convexity and in counter-clockwise order, call close() when done.
Definition at line 658 of file PlannerObstacles.cc.
Referenced by rotate().
| void ConvexPolyObstacle::clear | ( | ) | [virtual] |
remove all points and normals
Reimplemented from plist::DictionaryBase.
Definition at line 536 of file PlannerObstacles.h.
Referenced by rotate().
| ConvexPolyObstacle * ConvexPolyObstacle::clone | ( | ) | const [virtual] |
clone definition for ConvexPolyObstacle
Reimplemented from plist::DictionaryOf< PO, Alloc >.
Definition at line 20 of file PlannerObstacles.cc.
| void ConvexPolyObstacle::close | ( | ) |
Calculates values for final segment of polygon, call after a series of addPoint().
Definition at line 671 of file PlannerObstacles.cc.
Referenced by rotate().
| bool ConvexPolyObstacle::collides | ( | const ConvexPolyObstacle & | other | ) | const |
For polygon on polygon collision.
Definition at line 758 of file PlannerObstacles.cc.
| bool ConvexPolyObstacle::collides | ( | const CircularObstacle & | other | ) | const |
For polygon on circle collision.
Definition at line 716 of file PlannerObstacles.cc.
| bool ConvexPolyObstacle::collides | ( | const RectangularObstacle & | other | ) | const |
For polygon on rectangle collision.
Definition at line 689 of file PlannerObstacles.cc.
| bool ConvexPolyObstacle::collides | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | point | ) | const [virtual] |
Test if the polygon includes a specific point.
Definition at line 679 of file PlannerObstacles.cc.
Referenced by GaitedFootsteps::expand().
| BoundingBox2D ConvexPolyObstacle::getBoundingBox | ( | ) | const [virtual] |
get boundaries of the current obstacle
Implements PlannerObstacle< N >.
Definition at line 820 of file PlannerObstacles.cc.
| fmat::Column< 2 > ConvexPolyObstacle::getCenter | ( | ) | const [virtual] |
get center point of obstacle
Implements PlannerObstacle< N >.
Definition at line 801 of file PlannerObstacles.cc.
Referenced by updatePosition().
| const std::vector<fmat::Column<2> >& ConvexPolyObstacle::getNormals | ( | ) | const |
returns the normals, in counter-clockwise order
Definition at line 525 of file PlannerObstacles.h.
| const std::vector<fmat::Column<2> >& ConvexPolyObstacle::getPoints | ( | ) | const |
returns the points, in counter-clockwise order
Definition at line 522 of file PlannerObstacles.h.
| fmat::Column< 2 > ConvexPolyObstacle::getSupport | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | direction | ) | const [virtual] |
Definition at line 787 of file PlannerObstacles.cc.
| fmat::Column< 2 > ConvexPolyObstacle::gradient | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | pt | ) | const [virtual] |
Definition at line 833 of file PlannerObstacles.cc.
| void ConvexPolyObstacle::hull | ( | const std::set< fmat::Column< 2 > > & | p | ) |
Selects points which form a convex hull, clears current points.
Passing a set because the hulling algorithm (Andrew's Monotone Chain) begins with sorting the list of points anyway. If you have a different STL container 'c' just pass std::set<fmat::Column<2>(c.begin(),c.end()) to convert to a set. This implementation adapted from: http://en.wikibooks.org/wiki/Algorithm_Implementation/Geometry/Convex_hull/Monotone_chain
Definition at line 628 of file PlannerObstacles.cc.
Referenced by GaitedFootsteps::expand().
| void ConvexPolyObstacle::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 886 of file PlannerObstacles.cc.
| void ConvexPolyObstacle::offset | ( | const fmat::Column< 2 > & | off | ) | [virtual] |
Definition at line 827 of file PlannerObstacles.cc.
Referenced by updatePosition().
| ConvexPolyObstacle& ConvexPolyObstacle::operator= | ( | const ConvexPolyObstacle & | o | ) |
Assignment, should not use plist::Dictionary version.
Definition at line 514 of file PlannerObstacles.h.
| void ConvexPolyObstacle::rotate | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | origin, | |
| const fmat::SubMatrix< 2, 2, const fmat::fmatReal > & | rot | |||
| ) | [virtual] |
Definition at line 810 of file PlannerObstacles.cc.
| void ConvexPolyObstacle::saveXML | ( | xmlNode * | node | ) | const [virtual] |
subclasses are expected to provide a working implementation
Reimplemented from plist::DictionaryBase.
Definition at line 897 of file PlannerObstacles.cc.
| std::string ConvexPolyObstacle::toString | ( | ) | const [virtual] |
return current value as a string
Reimplemented from PlannerObstacle< N >.
Definition at line 879 of file PlannerObstacles.cc.
| virtual void ConvexPolyObstacle::updatePosition | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | newPos | ) | [virtual] |
Definition at line 557 of file PlannerObstacles.h.
Member Data Documentation
const std::string ConvexPolyObstacle::autoRegisterName = PlannerObstacle2D::getRegistry().registerType<ConvexPolyObstacle>("ConvexPoly") [static, protected] |
stores the class name used for polymorphic load/save
Definition at line 504 of file PlannerObstacles.h.
std::vector<fmat::Column<2> > ConvexPolyObstacle::normals [protected] |
the points of the polygon, in counter-clockwise order
Definition at line 507 of file PlannerObstacles.h.
Referenced by addPoint(), clear(), close(), collides(), getNormals(), gradient(), hull(), operator=(), and toString().
std::vector<fmat::Column<2> > ConvexPolyObstacle::points [protected] |
Definition at line 506 of file PlannerObstacles.h.
Referenced by addPoint(), clear(), close(), collides(), getBoundingBox(), getCenter(), getPoints(), getSupport(), gradient(), hull(), loadXML(), offset(), operator=(), rotate(), saveXML(), and toString().
The documentation for this class was generated from the following files:
