CylindricalObstacle Class Reference

Cylinder with central axis in alignment with z-axis by default. More...

#include <PlannerObstacles.h>

Inheritance diagram for CylindricalObstacle:

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Detailed Description

Cylinder with central axis in alignment with z-axis by default.

Definition at line 820 of file PlannerObstacles.h.

List of all members.

Public Member Functions
	CylindricalObstacle ()
	Default constructor.
	CylindricalObstacle (const fmat::SubVector< 3, const fmat::fmatReal > &c, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &o, fmat::fmatReal r, fmat::fmatReal hh)
CylindricalObstacle &	operator= (const CylindricalObstacle &o)
	Assignment, should not use plist::Dictionary version.
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 fmat::Column< 3 >	getCenter () const
	get center point of obstacle
virtual float	getRadius () const
virtual BoundingBox3D	getBoundingBox () const
	get boundaries of the current obstacle
virtual bool	collides (const fmat::SubVector< 3, const fmat::fmatReal > &point) 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
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 CylindricalObstacle *	clone () const __attribute__((warn_unused_result))
	clone definition for CylindricalObstacle
Protected Attributes
fmat::Column< 3 >	center
	center of the cylinder
fmat::Matrix< 3, 3 >	orientation
	3D orientation of cylinder
fmat::fmatReal	radius
	radius of cylinder
fmat::fmatReal	halfHeight
	half-height
Static Protected Attributes
static const std::string	autoRegisterName = PlannerObstacle3D::getRegistry().registerType<CylindricalObstacle>("Cylinder")
	stores the class name used for polymorphic load/save

Constructor & Destructor Documentation

CylindricalObstacle::CylindricalObstacle ( )

Default constructor.

Definition at line 839 of file PlannerObstacles.h.

CylindricalObstacle::CylindricalObstacle	(	const fmat::SubVector< 3, const fmat::fmatReal > &	c,
		const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &	o,
		fmat::fmatReal	r,
		fmat::fmatReal	hh
	)

Definition at line 842 of file PlannerObstacles.h.

Member Function Documentation

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

clone definition for CylindricalObstacle

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

Definition at line 23 of file PlannerObstacles.cc.

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

Definition at line 1267 of file PlannerObstacles.cc.

BoundingBox3D CylindricalObstacle::getBoundingBox ( ) const [virtual]

get boundaries of the current obstacle

Implements PlannerObstacle< N >.

Definition at line 1265 of file PlannerObstacles.cc.

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

get center point of obstacle

Implements PlannerObstacle< N >.

Definition at line 864 of file PlannerObstacles.h.

virtual float CylindricalObstacle::getRadius ( ) const [virtual]

Definition at line 865 of file PlannerObstacles.h.

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

Definition at line 1275 of file PlannerObstacles.cc.

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

Definition at line 1290 of file PlannerObstacles.cc.

void CylindricalObstacle::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 1299 of file PlannerObstacles.cc.

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

Assignment, should not use plist::Dictionary version.

Definition at line 849 of file PlannerObstacles.h.

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

Definition at line 859 of file PlannerObstacles.h.

void CylindricalObstacle::saveXML ( xmlNode * node ) const [virtual]

subclasses are expected to provide a working implementation

Reimplemented from plist::DictionaryBase.

Definition at line 1320 of file PlannerObstacles.cc.

std::string CylindricalObstacle::toString ( ) const [virtual]

return current value as a string

Reimplemented from PlannerObstacle< N >.

Definition at line 1292 of file PlannerObstacles.cc.

virtual void CylindricalObstacle::updatePosition ( const fmat::SubVector< 3, const fmat::fmatReal > & newPos ) [virtual]

Definition at line 858 of file PlannerObstacles.h.

Member Data Documentation

const std::string CylindricalObstacle::autoRegisterName = PlannerObstacle3D::getRegistry().registerType<CylindricalObstacle>("Cylinder") [static, protected]

stores the class name used for polymorphic load/save

Definition at line 823 of file PlannerObstacles.h.

fmat::Column<3> CylindricalObstacle::center [protected]

center of the cylinder

Definition at line 826 of file PlannerObstacles.h.

Referenced by getCenter(), loadXML(), operator=(), rotate(), saveXML(), toString(), and updatePosition().