Tools/PotentialFields/PotentialFunctions.cpp File Reference

Implementation of several functions used by potential fields. More...

#include "PotentialFunctions.h"
#include "PfieldDatatypes.h"
#include "PfieldGeometry.h"

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Functions
double	computeChargeForPointfield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function)
	Computes the charge at a position in a Pointfield.
double	computeChargeForShapefield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function, PfieldGeometricObject *geometry)
	Computes the charge at a position in a Shapefield.
double	computeChargeForSectorfield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function, const Sector &sector)
	Computes the charge at a position in a Sectorfield.
PfVec	computeGradientForPointfield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function)
	Computes the gradient at a position in a Pointfield.
PfVec	computeGradientForShapefield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function, PfieldGeometricObject *geometry, ObjectType objectType)
	Computes the gradient at a position in a Shapefield.
PfVec	computeGradientForSectorfield (const PfPose &objectPose, const PfPose &testedPose, PotentialfieldFunction *function, const Sector &sector)
	Computes the gradient at a position in a Sectorfield.

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Detailed Description

Implementation of several functions used by potential fields.

Author:

Tim Laue

Definition in file PotentialFunctions.cpp.

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Function Documentation

double computeChargeForPointfield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function )

Computes the charge at a position in a Pointfield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function Returns: The charge Definition at line 77 of file PotentialFunctions.cpp. References PotentialfieldFunction::computeValue(), PfVec::distanceTo(), and PfPose::pos. Referenced by Object::computeChargeForSinglePose().

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double computeChargeForShapefield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function, PfieldGeometricObject *  geometry )

Computes the charge at a position in a Shapefield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function geometry  The geometric shape of the object Returns: The charge Definition at line 85 of file PotentialFunctions.cpp. References PotentialfieldFunction::computeValue(), PfieldGeometricObject::distanceTo(), and PfPose::pos. Referenced by Object::computeChargeForSinglePose().

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double computeChargeForSectorfield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function, const Sector &  sector )

Computes the charge at a position in a Sectorfield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function sector  The sector of the field Returns: The charge Definition at line 102 of file PotentialFunctions.cpp. References PotentialfieldFunction::computeValue(), Sector::crossFunction, PfVec::distanceTo(), PfPose::getAngleTo(), PotentialfieldFunction::getRange(), Sector::openingAngle, Sector::pointInside(), PfPose::pos, and PotentialfieldFunction::setParameters(). Referenced by Object::computeChargeForSinglePose().

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PfVec computeGradientForPointfield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function )

Computes the gradient at a position in a Pointfield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function Returns: The gradient Definition at line 119 of file PotentialFunctions.cpp. References PotentialfieldFunction::computeDerivativeValue(), PfVec::length(), PfVec::normalize(), and PfPose::pos. Referenced by Object::computeGradientVecForSinglePose().

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PfVec computeGradientForShapefield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function, PfieldGeometricObject *  geometry, ObjectType  objectType )

Computes the gradient at a position in a Shapefield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function geometry  The geometric shape of the object objectType  The type of the object Returns: The gradient Definition at line 132 of file PotentialFunctions.cpp. References ATTRACTIVE, PotentialfieldFunction::computeDerivativeValue(), PfieldGeometricObject::distanceTo(), PfVec::normalize(), and PfPose::pos. Referenced by Object::computeGradientVecForSinglePose().

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PfVec computeGradientForSectorfield (  const PfPose &  objectPose, const PfPose &  testedPose, PotentialfieldFunction *  function, const Sector &  sector )

Computes the gradient at a position in a Sectorfield. Parameters: objectPose  The pose of the object to which the field belongs testedPose  The pose for which the charge is computed function  The function sector  The sector of the field Returns: The gradient Definition at line 165 of file PotentialFunctions.cpp. References PotentialfieldFunction::computeDerivativeValue(), PotentialfieldFunction::computeValue(), Sector::crossFunction, PfVec::distanceTo(), PfPose::getAngleTo(), PotentialfieldFunction::getRange(), PfVec::length(), PfVec::normalize(), Sector::openingAngle, Sector::pointInside(), PfPose::pos, PfVec::rotate(), PfPose::rotation, and PotentialfieldFunction::setParameters(). Referenced by Object::computeGradientVecForSinglePose().

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