SphericalObstacle Class Reference
Spherically defined obstacle. More...
#include <PlannerObstacles.h>
Detailed Description
Spherically defined obstacle.
Definition at line 886 of file PlannerObstacles.h.
Public Member Functions | |
| SphericalObstacle () | |
| Default constructor. | |
| SphericalObstacle (fmat::fmatReal x, fmat::fmatReal y, fmat::fmatReal z, fmat::fmatReal r) | |
| point and radius | |
| SphericalObstacle (const fmat::Column< 3 > &c, fmat::fmatReal r) | |
| point and radius | |
| SphericalObstacle & | operator= (const SphericalObstacle &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 fmat::fmatReal | getRadius () const |
| virtual BoundingBox3D | getBoundingBox () const |
| get boundaries of the current obstacle | |
| virtual bool | collides (const fmat::SubVector< 3, const fmat::fmatReal > &point) const |
| For obstacle on point. | |
| bool | collides (const SphericalObstacle &other) 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 SphericalObstacle * | clone () const __attribute__((warn_unused_result)) |
| clone definition for SphericalObstacle | |
Protected Attributes | |
| fmat::Column< 3 > | center |
| center of the sphere | |
| fmat::fmatReal | radius |
| radius of the sphere | |
Static Protected Attributes | |
| static const std::string | autoRegisterName = PlannerObstacle3D::getRegistry().registerType<SphericalObstacle>("Sphere") |
| stores the class name used for polymorphic load/save | |
Constructor & Destructor Documentation
| SphericalObstacle::SphericalObstacle | ( | ) |
Default constructor.
Definition at line 899 of file PlannerObstacles.h.
| SphericalObstacle::SphericalObstacle | ( | fmat::fmatReal | x, | |
| fmat::fmatReal | y, | |||
| fmat::fmatReal | z, | |||
| fmat::fmatReal | r | |||
| ) |
point and radius
Definition at line 903 of file PlannerObstacles.h.
| SphericalObstacle::SphericalObstacle | ( | const fmat::Column< 3 > & | c, | |
| fmat::fmatReal | r | |||
| ) |
point and radius
Definition at line 907 of file PlannerObstacles.h.
Member Function Documentation
| SphericalObstacle * SphericalObstacle::clone | ( | ) | const [virtual] |
clone definition for SphericalObstacle
Reimplemented from plist::DictionaryOf< PO, Alloc >.
Definition at line 24 of file PlannerObstacles.cc.
| bool SphericalObstacle::collides | ( | const SphericalObstacle & | other | ) | const |
Definition at line 1343 of file PlannerObstacles.cc.
| bool SphericalObstacle::collides | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | point | ) | const [virtual] |
For obstacle on point.
Definition at line 1338 of file PlannerObstacles.cc.
| virtual BoundingBox3D SphericalObstacle::getBoundingBox | ( | ) | const [virtual] |
get boundaries of the current obstacle
Implements PlannerObstacle< N >.
Definition at line 925 of file PlannerObstacles.h.
| virtual fmat::Column<3> SphericalObstacle::getCenter | ( | ) | const [virtual] |
get center point of obstacle
Implements PlannerObstacle< N >.
Definition at line 923 of file PlannerObstacles.h.
| virtual fmat::fmatReal SphericalObstacle::getRadius | ( | ) | const [virtual] |
Definition at line 924 of file PlannerObstacles.h.
| fmat::Column< 3 > SphericalObstacle::getSupport | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | direction | ) | const [virtual] |
Definition at line 1349 of file PlannerObstacles.cc.
| fmat::Column< 3 > SphericalObstacle::gradient | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | pt | ) | const [virtual] |
Definition at line 1353 of file PlannerObstacles.cc.
| void SphericalObstacle::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 1367 of file PlannerObstacles.cc.
| SphericalObstacle& SphericalObstacle::operator= | ( | const SphericalObstacle & | o | ) |
Assignment, should not use plist::Dictionary version.
Definition at line 911 of file PlannerObstacles.h.
| virtual void SphericalObstacle::rotate | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | origin, | |
| const fmat::SubMatrix< 3, 3, const fmat::fmatReal > & | rot | |||
| ) | [virtual] |
Definition at line 920 of file PlannerObstacles.h.
| void SphericalObstacle::saveXML | ( | xmlNode * | node | ) | const [virtual] |
subclasses are expected to provide a working implementation
Reimplemented from plist::DictionaryBase.
Definition at line 1380 of file PlannerObstacles.cc.
| std::string SphericalObstacle::toString | ( | ) | const [virtual] |
return current value as a string
Reimplemented from PlannerObstacle< N >.
Definition at line 1361 of file PlannerObstacles.cc.
| virtual void SphericalObstacle::updatePosition | ( | const fmat::SubVector< 3, const fmat::fmatReal > & | newPos | ) | [virtual] |
Definition at line 918 of file PlannerObstacles.h.
Member Data Documentation
const std::string SphericalObstacle::autoRegisterName = PlannerObstacle3D::getRegistry().registerType<SphericalObstacle>("Sphere") [static, protected] |
stores the class name used for polymorphic load/save
Definition at line 889 of file PlannerObstacles.h.
fmat::Column<3> SphericalObstacle::center [protected] |
center of the sphere
Definition at line 892 of file PlannerObstacles.h.
Referenced by collides(), getBoundingBox(), getCenter(), getSupport(), gradient(), loadXML(), operator=(), rotate(), saveXML(), toString(), and updatePosition().
fmat::fmatReal SphericalObstacle::radius [protected] |
radius of the sphere
Definition at line 895 of file PlannerObstacles.h.
Referenced by collides(), getBoundingBox(), getRadius(), getSupport(), gradient(), loadXML(), operator=(), saveXML(), and toString().
The documentation for this class was generated from the following files:
