EllipsoidObstacle Class Reference

#include <PlannerObstacles.h>

Inheritance diagram for EllipsoidObstacle:

Detailed Description

Definition at line 926 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 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 942 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 945 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 34 of file PlannerObstacles.cc.

bool EllipsoidObstacle::collides ( const fmat::SubVector< 3, const fmat::fmatReal > & point ) const [virtual]

Definition at line 1411 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 1451 of file PlannerObstacles.cc.

Referenced by getSupport().

BoundingBox3D EllipsoidObstacle::getBoundingBox ( ) const [virtual]

get boundaries of the current obstacle

Implements PlannerObstacle< N >.

Definition at line 1409 of file PlannerObstacles.cc.

virtual fmat::Column<3> EllipsoidObstacle::getCenter ( ) const [virtual]

get center point of obstacle

Implements PlannerObstacle< N >.

Definition at line 965 of file PlannerObstacles.h.

fmat::Column< 3 > EllipsoidObstacle::getSupport ( const fmat::SubVector< 3, const fmat::fmatReal > & direction ) const [virtual]

Definition at line 1424 of file PlannerObstacles.cc.

fmat::Column< 3 > EllipsoidObstacle::gradient ( const fmat::SubVector< 3, const fmat::fmatReal > & pt ) const [virtual]

Definition at line 1470 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 1472 of file PlannerObstacles.cc.

EllipsoidObstacle& EllipsoidObstacle::operator= ( const EllipsoidObstacle & o )

Assignment, should not use plist::Dictionary version.

Definition at line 951 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 960 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 1489 of file PlannerObstacles.cc.

virtual void EllipsoidObstacle::updatePosition ( const fmat::SubVector< 3, const fmat::fmatReal > & newPos ) [virtual]

Definition at line 959 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 929 of file PlannerObstacles.h.

fmat::Column<3> EllipsoidObstacle::center [protected]

center of the ellipsoid

Definition at line 932 of file PlannerObstacles.h.

Referenced by getCenter(), getSupport(), loadXML(), operator=(), rotate(), saveXML(), and updatePosition().