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Tools/PotentialFields/PotentialFunctions.h File Reference

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

#include <cmath>
#include <cassert>

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Classes

class  PotentialfieldFunction
 An abstract class representing a function in a potential field. More...

class  LinearFunction
 A class representing a linear function in a potential field f(x) = a*x +b. More...

class  ParabolicFunction
 A class representing a parabolic function in a potential field f(x) = a*x*x +b. More...

class  AsymptoticFunction
 A class representing an asymptotic function in a potential field f(x) = a/x +b. More...

class  SocialFunction
 A class representing a social function in a potential field. More...

class  NoFunction
 A class representing an empty function. More...


Enumerations

enum  ObjectType { ATTRACTIVE, REPULSIVE }
 The object types. More...

enum  FunctionType {
  NO_FUNCTION, LINEAR_FUNCTION, PARABOLIC_FUNCTION,
  ASYMPTOTIC_FUNCTION
}
 The function types. More...

enum  FieldType { POINT_FIELD, SHAPE_FIELD, SECTOR_FIELD }
 The field types. More...


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.

Detailed Description

Definition of several functions used by potential fields.

Author:
Tim Laue

Definition in file PotentialFunctions.h.

Enumeration Type Documentation

enum ObjectType
 

The object types.

Enumeration values:
ATTRACTIVE 
REPULSIVE 

Definition at line 24 of file PotentialFunctions.h.

Referenced by Object::getType(), and Parser::parseObject().

enum FunctionType
 

The function types.

Enumeration values:
NO_FUNCTION 
LINEAR_FUNCTION 
PARABOLIC_FUNCTION 
ASYMPTOTIC_FUNCTION 

Definition at line 27 of file PotentialFunctions.h.

enum FieldType
 

The field types.

Enumeration values:
POINT_FIELD 
SHAPE_FIELD 
SECTOR_FIELD 

Definition at line 30 of file PotentialFunctions.h.

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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