RectangularObstacle Class Reference

Rectangular defined obstacle designated by 4 corners and its rotation matrix from axis alignment. More...

#include <PlannerObstacles.h>

Inheritance diagram for RectangularObstacle:

[legend]

Detailed Description

Rectangular defined obstacle designated by 4 corners and its rotation matrix from axis alignment.

Definition at line 165 of file PlannerObstacles.h.

List of all members.

Public Types
enum	CornerOrder { TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT, NUM_CORNERS }
Public Member Functions
	RectangularObstacle ()
	Default constructor.
	RectangularObstacle (const fmat::SubVector< 2, const fmat::fmatReal > &centerPoint, const fmat::SubVector< 2, const fmat::fmatReal > &extents, fmat::fmatReal orient)
	Pass the center, the extents from center (half-width and half-height), and an angular (radian) rotation.
	RectangularObstacle (const BoundingBox2D &bb, const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &rot, const fmat::SubVector< 2, const fmat::fmatReal > &off)
	Pass a bounding box and a transform... the transformation is applied relative to origin, e.g. the bb center will rotate about the origin.
RectangularObstacle &	operator= (const RectangularObstacle &o)
	Assignment, should not use plist::Dictionary version.
virtual bool	collides (const fmat::SubVector< 2, const fmat::fmatReal > &point) const
	Test if the rectangle includes a specific point.
bool	collides (const RectangularObstacle &other) const
bool	collides (const CircularObstacle &other) const
bool	collides (const EllipticalObstacle &other) const
virtual fmat::Column< 2 >	getSupport (const fmat::SubVector< 2, const fmat::fmatReal > &direction) const
virtual void	reset (const fmat::Column< 2 > &centerPoint, const fmat::Column< 2 > &extents, fmat::fmatReal orient)
	do a complete reset of parameters
virtual void	reset (fmat::Column< 2 > centerPoint, const fmat::SubVector< 2, const fmat::fmatReal > &extents, const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &rot)
	do a complete reset of parameters (so if you already have the rotation matrix, avoids regeneration from the angular value)
virtual void	updatePosition (const fmat::SubVector< 2, const fmat::fmatReal > &newPos)
virtual void	rotate (const fmat::SubVector< 2, const fmat::fmatReal > &origin, const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &rot)
virtual BoundingBox2D	getBoundingBox () const
	Minimum and maximum X and Y extents (axis aligned bounding box).
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 fmat::Column< 2 >	getCenter () const
	Gets the center (X,Y).
float	getWidth () const
	returns the width along 'local' axes
float	getHeight () const
	returns the height along 'local' axes
fmat::Column< 2 >	getExtents () const
	returns the half-width and half-height, suitable for easy use with reset()
float	getOrientation () const
	returns the orienation of the rectangle in radians
fmat::Column< 2 >	getCorner (size_t i) const
	returns the specified corner point
virtual void	bloat (float amount)
	Increases the size of the obstacle in all directions by at least amount.
virtual void	contract (float amount)
	Decreases the size of the obstacle in all directions by at least amount.
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 RectangularObstacle *	clone () const __attribute__((warn_unused_result))
	clone definition for RectangularObstacle
Protected Attributes
fmat::Column< 2 >	center
	Center of rectangle.
fmat::Column< 2 >	minEx
	minimum extents (along rectangle axes)
fmat::Column< 2 >	maxEx
	maximum extents (along rectangle axes)
BoundingBox2D	bBox
	axis aligned bounding box
fmat::Matrix< 2, 2 >	unrot
	The rotation matrix to rotate from 'normal' coordinates to the obstacle orientation.
fmat::Matrix< 4, 2 >	points
	corner points for fast collision checking
Static Protected Attributes
static const std::string	autoRegisterName = PlannerObstacle2D::getRegistry().registerType<RectangularObstacle>("Rectangle")
	stores the class name used for polymorphic load/save
Friends
class	ConvexPolyObstacle

Member Enumeration Documentation

enum RectangularObstacle::CornerOrder

Enumerator:

TOP_RIGHT
TOP_LEFT
BOTTOM_LEFT
BOTTOM_RIGHT
NUM_CORNERS

Definition at line 272 of file PlannerObstacles.h.

Constructor & Destructor Documentation

RectangularObstacle::RectangularObstacle ( )

Default constructor.

Definition at line 195 of file PlannerObstacles.h.

RectangularObstacle::RectangularObstacle	(	const fmat::SubVector< 2, const fmat::fmatReal > &	centerPoint,
		const fmat::SubVector< 2, const fmat::fmatReal > &	extents,
		fmat::fmatReal	orient
	)

Pass the center, the extents from center (half-width and half-height), and an angular (radian) rotation.

Definition at line 198 of file PlannerObstacles.h.

RectangularObstacle::RectangularObstacle	(	const BoundingBox2D &	bb,
		const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &	rot,
		const fmat::SubVector< 2, const fmat::fmatReal > &	off
	)

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 207 of file PlannerObstacles.h.

Member Function Documentation

void RectangularObstacle::bloat ( float amount ) [virtual]

Increases the size of the obstacle in all directions by at least amount.

Definition at line 293 of file PlannerObstacles.cc.

Referenced by contract().

RectangularObstacle * RectangularObstacle::clone ( ) const [virtual]

clone definition for RectangularObstacle

Reimplemented from plist::DictionaryOf< PO, Alloc >.

Definition at line 26 of file PlannerObstacles.cc.

bool RectangularObstacle::collides ( const EllipticalObstacle & other ) const

bool RectangularObstacle::collides ( const CircularObstacle & other ) const

Definition at line 180 of file PlannerObstacles.cc.

bool RectangularObstacle::collides ( const RectangularObstacle & other ) const

Definition at line 148 of file PlannerObstacles.cc.

bool RectangularObstacle::collides ( const fmat::SubVector< 2, const fmat::fmatReal > & point ) const [virtual]

Test if the rectangle includes a specific point.

Definition at line 270 of file PlannerObstacles.cc.

Referenced by RRTNode2DR< N >::CollisionChecker::JointObstacle::collides().

void RectangularObstacle::contract ( float amount ) [virtual]

Decreases the size of the obstacle in all directions by at least amount.

Definition at line 298 of file PlannerObstacles.cc.

virtual BoundingBox2D RectangularObstacle::getBoundingBox ( ) const [virtual]

Minimum and maximum X and Y extents (axis aligned bounding box).

Implements PlannerObstacle< N >.

Definition at line 254 of file PlannerObstacles.h.

virtual fmat::Column<2> RectangularObstacle::getCenter ( ) const [virtual]

Gets the center (X,Y).

Implements PlannerObstacle< N >.

Definition at line 261 of file PlannerObstacles.h.

Referenced by bloat(), LinkComponent::getObstacle(), rotate(), saveXML(), and updatePosition().

fmat::Column<2> RectangularObstacle::getCorner ( size_t i ) const

returns the specified corner point

Definition at line 281 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::getBoxes(), and ShapeSpacePlanner2DR< N >::getBoxes().

fmat::Column<2> RectangularObstacle::getExtents ( ) const

returns the half-width and half-height, suitable for easy use with reset()

Definition at line 268 of file PlannerObstacles.h.

Referenced by ShapeSpacePlanner3DR< N >::getBoxes(), ShapeSpacePlanner2DR< N >::getBoxes(), and rotate().

float RectangularObstacle::getHeight ( ) const

returns the height along 'local' axes

Definition at line 266 of file PlannerObstacles.h.

Referenced by LinkComponent::getObstacle(), and saveXML().

float RectangularObstacle::getOrientation ( ) const

returns the orienation of the rectangle in radians

Definition at line 333 of file PlannerObstacles.cc.

Referenced by LinkComponent::getObstacle(), and saveXML().

fmat::Column< 2 > RectangularObstacle::getSupport ( const fmat::SubVector< 2, const fmat::fmatReal > & direction ) const [virtual]

Definition at line 276 of file PlannerObstacles.cc.

float RectangularObstacle::getWidth ( ) const

returns the width along 'local' axes

Definition at line 264 of file PlannerObstacles.h.

Referenced by LinkComponent::getObstacle(), and saveXML().

fmat::Column< 2 > RectangularObstacle::gradient ( const fmat::SubVector< 2, const fmat::fmatReal > & pt ) const [virtual]

Definition at line 211 of file PlannerObstacles.cc.

void RectangularObstacle::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 302 of file PlannerObstacles.cc.

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

Assignment, should not use plist::Dictionary version.

Definition at line 215 of file PlannerObstacles.h.

void RectangularObstacle::reset	(	fmat::Column< 2 >	centerPoint,
		const fmat::SubVector< 2, const fmat::fmatReal > &	extents,
		const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &	rot
	)			`[virtual]`

do a complete reset of parameters (so if you already have the rotation matrix, avoids regeneration from the angular value)

Definition at line 114 of file PlannerObstacles.cc.

virtual void RectangularObstacle::reset	(	const fmat::Column< 2 > &	centerPoint,
		const fmat::Column< 2 > &	extents,
		fmat::fmatReal	orient
	)			`[virtual]`

do a complete reset of parameters

Definition at line 238 of file PlannerObstacles.h.

Referenced by bloat(), LinkComponent::computeBB2D(), loadXML(), RectangularObstacle(), and rotate().

void RectangularObstacle::rotate	(	const fmat::SubVector< 2, const fmat::fmatReal > &	origin,
		const fmat::SubMatrix< 2, 2, const fmat::fmatReal > &	rot
	)			`[virtual]`

Definition at line 205 of file PlannerObstacles.cc.

void RectangularObstacle::saveXML ( xmlNode * node ) const [virtual]

subclasses are expected to provide a working implementation

Reimplemented from plist::DictionaryBase.

Definition at line 316 of file PlannerObstacles.cc.

std::string RectangularObstacle::toString ( ) const [virtual]

return current value as a string

Reimplemented from PlannerObstacle< N >.

Definition at line 264 of file PlannerObstacles.cc.

void RectangularObstacle::updatePosition ( const fmat::SubVector< 2, const fmat::fmatReal > & newPos ) [virtual]

Definition at line 135 of file PlannerObstacles.cc.

Friends And Related Function Documentation

friend class ConvexPolyObstacle [friend]

Definition at line 167 of file PlannerObstacles.h.

Member Data Documentation

const std::string RectangularObstacle::autoRegisterName = PlannerObstacle2D::getRegistry().registerType<RectangularObstacle>("Rectangle") [static, protected]

stores the class name used for polymorphic load/save

Definition at line 170 of file PlannerObstacles.h.

BoundingBox2D RectangularObstacle::bBox [protected]

axis aligned bounding box

Definition at line 181 of file PlannerObstacles.h.

Referenced by collides(), getBoundingBox(), operator=(), reset(), and updatePosition().