EllipticalObstacle Class Reference

Elliptically defined obstacle. More...

#include <PlannerObstacles.h>

Inheritance diagram for EllipticalObstacle:

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Detailed Description

Elliptically defined obstacle.

Definition at line 375 of file PlannerObstacles.h.

List of all members.

Public Member Functions
	EllipticalObstacle ()
	Default constructor.
	EllipticalObstacle (const fmat::Column< 2 > &c, fmat::fmatReal _semimajor, fmat::fmatReal _semiminor, fmat::fmatReal orientation)
	Location, semimajor, semiminor, orientation.
	EllipticalObstacle (const fmat::Column< 2 > &c, fmat::fmatReal r)
	Circle with point and radius.
EllipticalObstacle &	operator= (const EllipticalObstacle &o)
	Assignment, should not use plist::Dictionary version.
void	reset (const fmat::Column< 2 > &f1, const fmat::Column< 2 > &f2, fmat::fmatReal s)
	Initialize from two foci and semimajor s.
void	reset (const fmat::Column< 2 > &c, fmat::fmatReal smajor, fmat::fmatReal sminor, fmat::fmatReal ori)
	Initialize from center, extents, and orientation.
void	reset (const fmat::Column< 2 > &c, fmat::fmatReal radius)
	Initialize from circle: center and radius.
virtual bool	collides (const fmat::SubVector< 2, const fmat::fmatReal > &point) const
	Test if the circle includes a specific point.
virtual fmat::Column< 2 >	getSupport (const fmat::SubVector< 2, const fmat::fmatReal > &direction) const
virtual fmat::Column< 2 >	getCenter () const
	get center point of obstacle
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)
float	getOrientation () const
	Returns the angle of the major axis.
fmat::Matrix< 2, 2 >	getRotation () const
	If rotating into the ellipse's frame, construct rotation matrix directly.
fmat::Column< 2 >	getPointOnEdge (fmat::fmatReal theta) const
	Returns the point on the edge of the ellipse at the specified angle.
fmat::Column< 2 >	getPointOnEdge (const fmat::Column< 2 > &direction) const
	Returns the point on the edge of the ellipse which intersects vector v through the center.
virtual BoundingBox2D	getBoundingBox () const
	get boundaries of the current obstacle
virtual fmat::Column< 2 >	gradient (const fmat::SubVector< 2, const fmat::fmatReal > &pt) const
	Approximates the closest point on the ellipse to pt.
virtual std::string	toString () const
	return current value as a string
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 EllipticalObstacle *	clone () const __attribute__((warn_unused_result))
	clone definition for EllipticalObstacle
Public Attributes
fmat::Column< 2 >	focus1
	Focus of the ellipse.
fmat::Column< 2 >	focus2
	Focus of the ellipse.
fmat::Column< 2 >	center
	Center of the ellipse.
fmat::fmatReal	semimajor
	Half-length of the major axis.
fmat::fmatReal	semiminor
	Half-length of the minor axis.
Static Protected Attributes
static const std::string	autoRegisterName = PlannerObstacle2D::getRegistry().registerType<EllipticalObstacle>("Ellipse")
	stores the class name used for polymorphic load/save

Constructor & Destructor Documentation

EllipticalObstacle::EllipticalObstacle ( )

Default constructor.

Definition at line 397 of file PlannerObstacles.h.

EllipticalObstacle::EllipticalObstacle	(	const fmat::Column< 2 > &	c,
		fmat::fmatReal	_semimajor,
		fmat::fmatReal	_semiminor,
		fmat::fmatReal	orientation
	)

Location, semimajor, semiminor, orientation.

Swaps the major/minor and adds 90° to the orientation if major<minor

Definition at line 402 of file PlannerObstacles.h.

EllipticalObstacle::EllipticalObstacle	(	const fmat::Column< 2 > &	c,
		fmat::fmatReal	r
	)

Circle with point and radius.

Definition at line 406 of file PlannerObstacles.h.

Member Function Documentation

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

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

Definition at line 477 of file PlannerObstacles.h.

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

clone definition for EllipticalObstacle

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

Definition at line 28 of file PlannerObstacles.cc.

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

Test if the circle includes a specific point.

Definition at line 437 of file PlannerObstacles.h.

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

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

Definition at line 479 of file PlannerObstacles.h.

BoundingBox2D EllipticalObstacle::getBoundingBox ( ) const [virtual]

get boundaries of the current obstacle

Implements PlannerObstacle< N >.

Definition at line 467 of file PlannerObstacles.cc.

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

get center point of obstacle

Implements PlannerObstacle< N >.

Definition at line 443 of file PlannerObstacles.h.

float EllipticalObstacle::getOrientation ( ) const

Returns the angle of the major axis.

Definition at line 452 of file PlannerObstacles.h.

Referenced by bloat(), contract(), getBoundingBox(), gradient(), saveXML(), and toString().

fmat::Column< 2 > EllipticalObstacle::getPointOnEdge ( const fmat::Column< 2 > & direction ) const

Returns the point on the edge of the ellipse which intersects vector v through the center.

v does not need to be normalized

Definition at line 457 of file PlannerObstacles.cc.

fmat::Column<2> EllipticalObstacle::getPointOnEdge ( fmat::fmatReal theta ) const

Returns the point on the edge of the ellipse at the specified angle.

theta should be relative to the reference frame of the space that the ellipse resides in (and returns results in the external frame as well)

Definition at line 460 of file PlannerObstacles.h.

Referenced by gradient().

fmat::Matrix< 2, 2 > EllipticalObstacle::getRotation ( ) const

If rotating into the ellipse's frame, construct rotation matrix directly.

Definition at line 448 of file PlannerObstacles.cc.

Referenced by getPointOnEdge(), getSupport(), and gradient().

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

Definition at line 408 of file PlannerObstacles.cc.

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

Approximates the closest point on the ellipse to pt.

Basically scales the vector from the center to pt

Definition at line 483 of file PlannerObstacles.cc.

void EllipticalObstacle::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 567 of file PlannerObstacles.cc.

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

Assignment, should not use plist::Dictionary version.

Definition at line 410 of file PlannerObstacles.h.

void EllipticalObstacle::reset	(	const fmat::Column< 2 > &	c,
		fmat::fmatReal	radius
	)

Initialize from circle: center and radius.

Definition at line 429 of file PlannerObstacles.h.

void EllipticalObstacle::reset	(	const fmat::Column< 2 > &	c,
		fmat::fmatReal	smajor,
		fmat::fmatReal	sminor,
		fmat::fmatReal	ori
	)

Initialize from center, extents, and orientation.

Swaps the major/minor and adds 90° to the orientation if major<minor

Definition at line 394 of file PlannerObstacles.cc.

void EllipticalObstacle::reset	(	const fmat::Column< 2 > &	f1,
		const fmat::Column< 2 > &	f2,
		fmat::fmatReal	s
	)

Initialize from two foci and semimajor s.

Will throw an exception if s is too short (must be at least half the distance between the foci)

Definition at line 385 of file PlannerObstacles.cc.

Referenced by bloat(), contract(), EllipticalObstacle(), and loadXML().

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

Definition at line 441 of file PlannerObstacles.cc.

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

subclasses are expected to provide a working implementation

Reimplemented from plist::DictionaryBase.

Definition at line 586 of file PlannerObstacles.cc.

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

return current value as a string

Reimplemented from PlannerObstacle< N >.

Definition at line 559 of file PlannerObstacles.cc.

Referenced by ShapeSpaceCollisionCheckerBase< N >::addObstacleFromCollisionModel().

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

Definition at line 434 of file PlannerObstacles.cc.

Member Data Documentation

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

stores the class name used for polymorphic load/save

Definition at line 378 of file PlannerObstacles.h.

fmat::Column<2> EllipticalObstacle::center

Center of the ellipse.

Definition at line 388 of file PlannerObstacles.h.

Referenced by bloat(), contract(), getBoundingBox(), getCenter(), getPointOnEdge(), getRotation(), getSupport(), gradient(), loadXML(), operator=(), reset(), rotate(), saveXML(), toString(), and updatePosition().