EllipsoidObstacle Class Reference
#include <PlannerObstacles.h>
Detailed Description
Definition at line 949 of file PlannerObstacles.h.
Public Member Functions | |
| EllipsoidObstacle () | |
| Default constructor. | |
| EllipsoidObstacle (const fmat::SubVector< 3, const fmat::fmatReal > &c, const fmat::SubMatrix< 3, 3, const fmat::fmatReal > &o, const fmat::SubVector< 3, const fmat::fmatReal > &e) | |
| EllipsoidObstacle & | operator= (const EllipsoidObstacle &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 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< 2 > | get2Support (const fmat::SubVector< 2, const fmat::fmatReal > &direction) const |
| helper function, in the case of any of the components being zero. | |
| 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 EllipsoidObstacle * | clone () const __attribute__((warn_unused_result)) |
| clone definition for EllipsoidObstacle | |
Protected Attributes | |
| fmat::Column< 3 > | center |
| center of the ellipsoid | |
| fmat::Matrix< 3, 3 > | orientation |
| 3D orientation of the ellipse | |
| fmat::Column< 3 > | extents |
| positive half-width extents along each axis | |
Static Protected Attributes | |
| static const std::string | autoRegisterName = PlannerObstacle3D::getRegistry().registerType<EllipsoidObstacle>("Ellipsoid") |
| stores the class name used for polymorphic load/save | |
Constructor & Destructor Documentation
| EllipsoidObstacle::EllipsoidObstacle | ( | ) |
Default constructor.
Definition at line 965 of file PlannerObstacles.h.
| EllipsoidObstacle::EllipsoidObstacle | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | c, | |
| const fmat::SubMatrix< 3, 3, const fmat::fmatReal > & | o, | |||
| const fmat::SubVector< 3, const fmat::fmatReal > & | e | |||
| ) |
Definition at line 968 of file PlannerObstacles.h.
Member Function Documentation
| EllipsoidObstacle * EllipsoidObstacle::clone | ( | ) | const [virtual] |
clone definition for EllipsoidObstacle
Reimplemented from plist::DictionaryOf< PO, Alloc >.
Definition at line 25 of file PlannerObstacles.cc.
| bool EllipsoidObstacle::collides | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | point | ) | const [virtual] |
Definition at line 1394 of file PlannerObstacles.cc.
| fmat::Column< 2 > EllipsoidObstacle::get2Support | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | direction | ) | const [virtual] |
helper function, in the case of any of the components being zero.
Definition at line 1434 of file PlannerObstacles.cc.
Referenced by getSupport().
| BoundingBox3D EllipsoidObstacle::getBoundingBox | ( | ) | const [virtual] |
get boundaries of the current obstacle
Implements PlannerObstacle< N >.
Definition at line 1392 of file PlannerObstacles.cc.
| virtual fmat::Column<3> EllipsoidObstacle::getCenter | ( | ) | const [virtual] |
get center point of obstacle
Implements PlannerObstacle< N >.
Definition at line 988 of file PlannerObstacles.h.
| fmat::Column< 3 > EllipsoidObstacle::getSupport | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | direction | ) | const [virtual] |
Definition at line 1407 of file PlannerObstacles.cc.
| fmat::Column< 3 > EllipsoidObstacle::gradient | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | pt | ) | const [virtual] |
Definition at line 1453 of file PlannerObstacles.cc.
| void EllipsoidObstacle::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 1462 of file PlannerObstacles.cc.
| EllipsoidObstacle& EllipsoidObstacle::operator= | ( | const EllipsoidObstacle & | o | ) |
Assignment, should not use plist::Dictionary version.
Definition at line 974 of file PlannerObstacles.h.
| virtual void EllipsoidObstacle::rotate | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | origin, | |
| const fmat::SubMatrix< 3, 3, const fmat::fmatReal > & | rot | |||
| ) | [virtual] |
Definition at line 983 of file PlannerObstacles.h.
| void EllipsoidObstacle::saveXML | ( | xmlNode * | node | ) | const [virtual] |
subclasses are expected to provide a working implementation
Reimplemented from plist::DictionaryBase.
Definition at line 1479 of file PlannerObstacles.cc.
| std::string EllipsoidObstacle::toString | ( | ) | const [virtual] |
return current value as a string
Reimplemented from PlannerObstacle< N >.
Definition at line 1455 of file PlannerObstacles.cc.
| virtual void EllipsoidObstacle::updatePosition | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | newPos | ) | [virtual] |
Definition at line 982 of file PlannerObstacles.h.
Member Data Documentation
const std::string EllipsoidObstacle::autoRegisterName = PlannerObstacle3D::getRegistry().registerType<EllipsoidObstacle>("Ellipsoid") [static, protected] |
stores the class name used for polymorphic load/save
Definition at line 952 of file PlannerObstacles.h.
fmat::Column<3> EllipsoidObstacle::center [protected] |
center of the ellipsoid
Definition at line 955 of file PlannerObstacles.h.
Referenced by getCenter(), getSupport(), loadXML(), operator=(), rotate(), saveXML(), toString(), and updatePosition().
fmat::Column<3> EllipsoidObstacle::extents [protected] |
positive half-width extents along each axis
Definition at line 961 of file PlannerObstacles.h.
Referenced by collides(), get2Support(), getSupport(), loadXML(), operator=(), saveXML(), and toString().
fmat::Matrix<3,3> EllipsoidObstacle::orientation [protected] |
3D orientation of the ellipse
Definition at line 958 of file PlannerObstacles.h.
Referenced by collides(), getSupport(), loadXML(), operator=(), rotate(), saveXML(), and toString().
The documentation for this class was generated from the following files:
