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RectangularObstacle Class ReferenceRectangular defined obstacle designated by 4 corners and its rotation matrix from axis alignment. More...
Inheritance diagram for RectangularObstacle:
Detailed DescriptionRectangular defined obstacle designated by 4 corners and its rotation matrix from axis alignment. Definition at line 171 of file PlannerObstacles.h.
Member Enumeration DocumentationDefinition at line 280 of file PlannerObstacles.h. Constructor & Destructor Documentation
Default constructor. Definition at line 201 of file PlannerObstacles.h.
Pass the center, the extents from center (half-width and half-height), and an angular (radian) rotation. Definition at line 206 of file PlannerObstacles.h.
Pass a bounding box and a transform... the transformation is applied relative to origin, e.g. the bb center will rotate about the origin. Definition at line 215 of file PlannerObstacles.h. Member Function Documentation
Increases the size of the obstacle in all directions by at least amount. Definition at line 318 of file PlannerObstacles.cc. Referenced by contract().
clone definition for RectangularObstacle Reimplemented from plist::DictionaryOf< PO, Alloc >. Definition at line 17 of file PlannerObstacles.cc.
Definition at line 205 of file PlannerObstacles.cc.
Definition at line 173 of file PlannerObstacles.cc.
Test if the rectangle includes a specific point. Definition at line 295 of file PlannerObstacles.cc. Referenced by RRTNode2DR< N >::CollisionChecker::JointObstacle::collides().
Decreases the size of the obstacle in all directions by at least amount. Definition at line 323 of file PlannerObstacles.cc.
Minimum and maximum X and Y extents (axis aligned bounding box). Implements PlannerObstacle< N >. Definition at line 262 of file PlannerObstacles.h.
Gets the center (X,Y). Implements PlannerObstacle< N >. Definition at line 269 of file PlannerObstacles.h. Referenced by LinkComponent::getObstacle().
returns the specified corner point Definition at line 289 of file PlannerObstacles.h. Referenced by ShapeSpacePlanner2DR< N >::getBoxes().
returns the half-width and half-height, suitable for easy use with reset() Definition at line 276 of file PlannerObstacles.h. Referenced by ShapeSpacePlanner2DR< N >::getBoxes(), and rotate().
returns the height along 'local' axes Definition at line 274 of file PlannerObstacles.h. Referenced by LinkComponent::getObstacle(), and saveXML().
returns the orienation of the rectangle in radians Definition at line 358 of file PlannerObstacles.cc. Referenced by LinkComponent::getObstacle(), and saveXML().
Definition at line 301 of file PlannerObstacles.cc.
returns the width along 'local' axes Definition at line 272 of file PlannerObstacles.h. Referenced by LinkComponent::getObstacle(), and saveXML().
Definition at line 236 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 327 of file PlannerObstacles.cc.
Assignment, should not use plist::Dictionary version. Definition at line 223 of file PlannerObstacles.h.
do a complete reset of parameters (so if you already have the rotation matrix, avoids regeneration from the angular value) Definition at line 139 of file PlannerObstacles.cc.
do a complete reset of parameters Definition at line 246 of file PlannerObstacles.h. Referenced by bloat(), LinkComponent::computeBB2D(), loadXML(), RectangularObstacle(), and rotate().
Definition at line 230 of file PlannerObstacles.cc.
subclasses are expected to provide a working implementation Reimplemented from plist::DictionaryBase. Definition at line 341 of file PlannerObstacles.cc.
return current value as a string Reimplemented from PlannerObstacle< N >. Definition at line 289 of file PlannerObstacles.cc.
Definition at line 160 of file PlannerObstacles.cc. Friends And Related Function Documentation
Definition at line 173 of file PlannerObstacles.h. Member Data Documentation
stores the class name used for polymorphic load/save Definition at line 176 of file PlannerObstacles.h.
axis aligned bounding box Definition at line 187 of file PlannerObstacles.h. Referenced by collides(), getBoundingBox(), operator=(), reset(), and updatePosition().
Center of rectangle. Definition at line 179 of file PlannerObstacles.h. Referenced by bloat(), getCenter(), operator=(), reset(), rotate(), saveXML(), and updatePosition().
maximum extents (along rectangle axes) Definition at line 184 of file PlannerObstacles.h. Referenced by bloat(), ConvexPolyObstacle::collides(), collides(), getExtents(), getHeight(), getWidth(), gradient(), operator=(), reset(), and updatePosition().
minimum extents (along rectangle axes) Definition at line 182 of file PlannerObstacles.h. Referenced by ConvexPolyObstacle::collides(), collides(), getExtents(), getHeight(), getWidth(), gradient(), operator=(), reset(), and updatePosition().
corner points for fast collision checking points are stored in clockwise order from upper right:
Definition at line 197 of file PlannerObstacles.h. Referenced by ConvexPolyObstacle::collides(), collides(), getCorner(), getSupport(), gradient(), operator=(), reset(), toString(), and updatePosition().
The rotation matrix to rotate from 'normal' coordinates to the obstacle orientation. Definition at line 190 of file PlannerObstacles.h. Referenced by bloat(), ConvexPolyObstacle::collides(), collides(), getOrientation(), getSupport(), gradient(), operator=(), reset(), rotate(), toString(), and updatePosition(). The documentation for this class was generated from the following files: |
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