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EllipticalObstacle Class ReferenceElliptically defined obstacle. More...
Inheritance diagram for EllipticalObstacle:
Detailed DescriptionElliptically defined obstacle. Definition at line 383 of file PlannerObstacles.h.
Constructor & Destructor Documentation
Default constructor. Definition at line 405 of file PlannerObstacles.h.
Location, semimajor, semiminor, orientation. Swaps the major/minor and adds 90° to the orientation if major<minor Definition at line 410 of file PlannerObstacles.h.
Circle with point and radius. Definition at line 416 of file PlannerObstacles.h. Member Function Documentation
Increases the size of the obstacle in all directions by at least amount. Definition at line 487 of file PlannerObstacles.h.
clone definition for EllipticalObstacle Reimplemented from plist::DictionaryOf< PO, Alloc >. Definition at line 19 of file PlannerObstacles.cc.
Test if the circle includes a specific point. Definition at line 447 of file PlannerObstacles.h.
Decreases the size of the obstacle in all directions by at least amount. Definition at line 489 of file PlannerObstacles.h.
Returns the angle of the major axis. Definition at line 462 of file PlannerObstacles.h. Referenced by bloat(), contract(), getBoundingBox(), gradient(), saveXML(), and toString().
get boundaries of the current obstacle Implements PlannerObstacle< N >. Definition at line 493 of file PlannerObstacles.cc.
get center point of obstacle Implements PlannerObstacle< N >. Definition at line 453 of file PlannerObstacles.h.
If rotating into the ellipse's frame, construct rotation matrix directly. Definition at line 474 of file PlannerObstacles.cc. Referenced by getPointOnEdge(), getSupport(), and gradient().
Returns the point on the edge of the ellipse which intersects vector v through the center. v does not need to be normalized Definition at line 483 of file PlannerObstacles.cc.
Returns the point on the edge of the ellipse at the specified angle. theta should be relative to the reference frame of the space that the ellipse resides in (and returns results in the external frame as well) Definition at line 470 of file PlannerObstacles.h. Referenced by gradient().
Definition at line 434 of file PlannerObstacles.cc.
Approximates the closest point on the ellipse to pt. Basically scales the vector from the center to pt Definition at line 509 of file PlannerObstacles.cc.
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:
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 593 of file PlannerObstacles.cc.
Assignment, should not use plist::Dictionary version. Definition at line 420 of file PlannerObstacles.h.
Initialize from circle: center and radius. Definition at line 439 of file PlannerObstacles.h.
Initialize from center, extents, and orientation. Swaps the major/minor and adds 90° to the orientation if major<minor Definition at line 419 of file PlannerObstacles.cc.
Initialize from two foci and semimajor s. Will throw an exception if s is too short (must be at least half the distance between the foci) Definition at line 410 of file PlannerObstacles.cc. Referenced by bloat(), contract(), EllipticalObstacle(), and loadXML().
Definition at line 467 of file PlannerObstacles.cc.
subclasses are expected to provide a working implementation Reimplemented from plist::DictionaryBase. Definition at line 612 of file PlannerObstacles.cc.
return current value as a string Reimplemented from PlannerObstacle< N >. Definition at line 585 of file PlannerObstacles.cc.
Definition at line 460 of file PlannerObstacles.cc. Member Data Documentation
stores the class name used for polymorphic load/save Definition at line 386 of file PlannerObstacles.h. Center of the ellipse. Definition at line 396 of file PlannerObstacles.h. Referenced by bloat(), contract(), getBoundingBox(), getCenter(), getOrientation(), getPointOnEdge(), getSupport(), gradient(), loadXML(), operator=(), reset(), rotate(), saveXML(), toString(), and updatePosition(). Focus of the ellipse. Definition at line 390 of file PlannerObstacles.h. Referenced by collides(), getAngle(), getOrientation(), operator=(), reset(), rotate(), toString(), and updatePosition(). Focus of the ellipse. Definition at line 393 of file PlannerObstacles.h. Referenced by collides(), getAngle(), operator=(), reset(), rotate(), toString(), and updatePosition(). Half-length of the major axis. Definition at line 399 of file PlannerObstacles.h. Referenced by bloat(), collides(), contract(), getBoundingBox(), getOrientation(), getPointOnEdge(), getSupport(), gradient(), operator=(), reset(), saveXML(), and toString(). Half-length of the minor axis. Definition at line 402 of file PlannerObstacles.h. Referenced by bloat(), contract(), getBoundingBox(), getOrientation(), getPointOnEdge(), getSupport(), gradient(), operator=(), reset(), saveXML(), and toString(). The documentation for this class was generated from the following files: |
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