HierarchicalObstacle Class Reference
Hierarchically defined obstacle containing multiple obstacles. More...
#include <PlannerObstacles.h>
Detailed Description
Hierarchically defined obstacle containing multiple obstacles.
Definition at line 578 of file PlannerObstacles.h.
Public Member Functions | |
| HierarchicalObstacle () | |
| default constructor | |
| HierarchicalObstacle (const HierarchicalObstacle &ho) | |
| copy constructor (deep copy components) | |
| HierarchicalObstacle & | operator= (const HierarchicalObstacle &o) |
| Assignment, should not use plist::Dictionary version. | |
| virtual | ~HierarchicalObstacle () |
| destructor | |
| template<class T > | |
| void | getComponents (std::vector< T > &obs) const |
| returns components of specified type | |
| const std::vector < PlannerObstacle2D * > & | getComponents () const |
| virtual bool | collides (const fmat::SubVector< 2, const fmat::fmatReal > &point) const |
| For obstacle on point. | |
| virtual bool | collides (const PlannerObstacle2D &other) const |
| virtual fmat::Column< 2 > | getSupport (const fmat::SubVector< 2, const fmat::fmatReal > &direction) const |
| Never called: since HO's aren't convex, must test collision with each obstacle. | |
| virtual BoundingBox2D | getBoundingBox () const |
| get boundaries of the current obstacle | |
| virtual fmat::Column< 2 > | getCenter () const |
| get center point of obstacle | |
| virtual fmat::Matrix< 2, 2 > | getOrientation () const |
| virtual void | updatePosition (const fmat::SubVector< 2, const fmat::fmatReal > &newPos) |
| virtual void | updateRotation (const fmat::Matrix< 2, 2 > &rot) |
| update to specified orientation about the center | |
| virtual void | rotate (const fmat::SubVector< 2, const fmat::fmatReal > &origin, const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &rot) |
| 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 std::string | componentsToString () const |
| Print the string representation for all components contained in the Hierarchy. | |
| void | clear () |
| clear all components | |
| void | add (PlannerObstacle2D *o) |
| add component to end of component list; components should be transformed in terms of Hierarchical Obstacle | |
| virtual HierarchicalObstacle * | clone () const __attribute__((warn_unused_result)) |
| clone definition for HierarchicalObstacle | |
Protected Member Functions | |
| void | recalculateBoundingBox () |
| recalculate rectangular bounding box based on contained obstacles | |
| void | expandBoundingBox (PlannerObstacle2D &other) |
| grow the bounding box to include that of other | |
Protected Attributes | |
| std::vector< PlannerObstacle2D * > | components |
| the obstacles contained in the hierarchy | |
| BoundingBox2D | aabb |
| axis-aligned bounding box of all obstacles | |
| fmat::Column< 2 > | center |
| origin of the obstacle, all sub-obstacles will be relative to this point | |
| fmat::Matrix< 2, 2 > | rotation |
| rotation about the origin | |
Static Protected Attributes | |
| static const std::string | autoRegisterName = PlannerObstacle2D::getRegistry().registerType<HierarchicalObstacle>("Hierarchy") |
| stores the class name used for polymorphic load/save | |
Constructor & Destructor Documentation
| HierarchicalObstacle::HierarchicalObstacle | ( | ) |
default constructor
Definition at line 598 of file PlannerObstacles.h.
| HierarchicalObstacle::HierarchicalObstacle | ( | const HierarchicalObstacle & | ho | ) |
copy constructor (deep copy components)
Definition at line 602 of file PlannerObstacles.h.
| virtual HierarchicalObstacle::~HierarchicalObstacle | ( | ) | [virtual] |
destructor
Definition at line 626 of file PlannerObstacles.h.
Member Function Documentation
| void HierarchicalObstacle::add | ( | PlannerObstacle2D * | o | ) |
add component to end of component list; components should be transformed in terms of Hierarchical Obstacle
Memory allocation of o will be claimed by the hierarchical obstacle.
Definition at line 673 of file PlannerObstacles.h.
Referenced by RRTNodeXYTheta::CollisionChecker::CollisionChecker(), and LinkComponent::getObstacles().
| void HierarchicalObstacle::clear | ( | ) | [virtual] |
clear all components
Reimplemented from plist::DictionaryBase.
Definition at line 665 of file PlannerObstacles.h.
Referenced by operator=(), and ~HierarchicalObstacle().
| HierarchicalObstacle * HierarchicalObstacle::clone | ( | ) | const [virtual] |
clone definition for HierarchicalObstacle
Reimplemented from plist::DictionaryOf< PO, Alloc >.
Definition at line 21 of file PlannerObstacles.cc.
Referenced by RRTNodeXYTheta::CollisionChecker::collides().
| bool HierarchicalObstacle::collides | ( | const PlannerObstacle2D & | other | ) | const [virtual] |
Definition at line 942 of file PlannerObstacles.cc.
| bool HierarchicalObstacle::collides | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | point | ) | const [virtual] |
For obstacle on point.
Definition at line 926 of file PlannerObstacles.cc.
Referenced by collides(), and gradient().
| std::string HierarchicalObstacle::componentsToString | ( | ) | const [virtual] |
Print the string representation for all components contained in the Hierarchy.
Definition at line 1018 of file PlannerObstacles.cc.
Referenced by componentsToString().
| void HierarchicalObstacle::expandBoundingBox | ( | PlannerObstacle2D & | other | ) | [protected] |
grow the bounding box to include that of other
Definition at line 915 of file PlannerObstacles.cc.
Referenced by add(), and recalculateBoundingBox().
| virtual BoundingBox2D HierarchicalObstacle::getBoundingBox | ( | ) | const [virtual] |
get boundaries of the current obstacle
Implements PlannerObstacle< N >.
Definition at line 643 of file PlannerObstacles.h.
| virtual fmat::Column<2> HierarchicalObstacle::getCenter | ( | ) | const [virtual] |
get center point of obstacle
Implements PlannerObstacle< N >.
Definition at line 645 of file PlannerObstacles.h.
| const std::vector<PlannerObstacle2D*>& HierarchicalObstacle::getComponents | ( | ) | const |
Definition at line 632 of file PlannerObstacles.h.
| void HierarchicalObstacle::getComponents | ( | std::vector< T > & | obs | ) | const |
returns components of specified type
Definition at line 680 of file PlannerObstacles.h.
| virtual fmat::Matrix<2,2> HierarchicalObstacle::getOrientation | ( | ) | const [virtual] |
Definition at line 646 of file PlannerObstacles.h.
| virtual fmat::Column<2> HierarchicalObstacle::getSupport | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | direction | ) | const [virtual] |
Never called: since HO's aren't convex, must test collision with each obstacle.
Definition at line 641 of file PlannerObstacles.h.
| fmat::Column< 2 > HierarchicalObstacle::gradient | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | pt | ) | const [virtual] |
Definition at line 982 of file PlannerObstacles.cc.
| HierarchicalObstacle& HierarchicalObstacle::operator= | ( | const HierarchicalObstacle & | o | ) |
Assignment, should not use plist::Dictionary version.
Definition at line 612 of file PlannerObstacles.h.
| void HierarchicalObstacle::recalculateBoundingBox | ( | ) | [protected] |
recalculate rectangular bounding box based on contained obstacles
Definition at line 909 of file PlannerObstacles.cc.
| void HierarchicalObstacle::rotate | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | origin, | |
| const fmat::SubMatrix< 2, 2, const fmat::fmatReal > & | rot | |||
| ) | [virtual] |
Definition at line 975 of file PlannerObstacles.cc.
| std::string HierarchicalObstacle::toString | ( | ) | const [virtual] |
return current value as a string
Reimplemented from PlannerObstacle< N >.
Definition at line 1012 of file PlannerObstacles.cc.
Referenced by componentsToString().
| void HierarchicalObstacle::updatePosition | ( | const fmat::SubVector< 2, const fmat::fmatReal > & | newPos | ) | [virtual] |
Definition at line 968 of file PlannerObstacles.cc.
Referenced by RRTNodeXYTheta::CollisionChecker::colliders(), and RRTNodeXYTheta::CollisionChecker::collides().
| virtual void HierarchicalObstacle::updateRotation | ( | const fmat::Matrix< 2, 2 > & | rot | ) | [virtual] |
update to specified orientation about the center
Definition at line 651 of file PlannerObstacles.h.
Referenced by RRTNodeXYTheta::CollisionChecker::colliders(), and RRTNodeXYTheta::CollisionChecker::collides().
Member Data Documentation
BoundingBox2D HierarchicalObstacle::aabb [protected] |
axis-aligned bounding box of all obstacles
Definition at line 591 of file PlannerObstacles.h.
Referenced by collides(), expandBoundingBox(), getBoundingBox(), operator=(), recalculateBoundingBox(), and updatePosition().
const std::string HierarchicalObstacle::autoRegisterName = PlannerObstacle2D::getRegistry().registerType<HierarchicalObstacle>("Hierarchy") [static, protected] |
stores the class name used for polymorphic load/save
Definition at line 581 of file PlannerObstacles.h.
fmat::Column<2> HierarchicalObstacle::center [protected] |
origin of the obstacle, all sub-obstacles will be relative to this point
Definition at line 593 of file PlannerObstacles.h.
Referenced by collides(), expandBoundingBox(), getCenter(), gradient(), operator=(), rotate(), and updatePosition().
std::vector<PlannerObstacle2D*> HierarchicalObstacle::components [protected] |
the obstacles contained in the hierarchy
Definition at line 589 of file PlannerObstacles.h.
Referenced by add(), clear(), collides(), componentsToString(), getComponents(), gradient(), HierarchicalObstacle(), operator=(), recalculateBoundingBox(), and toString().
fmat::Matrix<2,2> HierarchicalObstacle::rotation [protected] |
rotation about the origin
Definition at line 594 of file PlannerObstacles.h.
Referenced by collides(), expandBoundingBox(), getOrientation(), gradient(), operator=(), rotate(), and updateRotation().
The documentation for this class was generated from the following files:
