BestFitFormation Class Reference

A class representing a formation selection the "best fitting" formation out of a set of SingleFormations. More...

#include <FormationObject.h>

Inheritance diagram for BestFitFormation:

[legend]Collaboration diagram for BestFitFormation:

[legend]List of all members.

Public Member Functions
	BestFitFormation ()
	Constructor.
	~BestFitFormation ()
	Destructor.
bool	isActive () const
	Checks if the formation is active.
bool	isStatic () const
	Checks if the formation has a static position.
virtual PfVec	getPosition (const PfPose &robotPose)
	Returns the position of the formation in reference to the robot pose (used for A*-search to a formation).
PfVec	getVec (const PfPose &otherPose)
	Returns the field vector to/from a formation to/from a given pose.
double	getCharge (const PfPose &otherPose)
	Returns the field charge of the formation at a given pose.
void	addFormation (SingleFormation *formation)
	Adds a single formation to the set of formations.
void	setBestFitSelection (BestFitSelection bestFitSelection)
	Sets the criterion for choosing the best fitting formation.
SingleFormation *	copy () const
	Creates a copy of the formation object.
Protected Member Functions
virtual void	updateGeometry ()
	Updates the positions of the formation.
int	findBestFormation (const PfPose &otherPose)
	Determines the best formation.
Protected Attributes
std::vector< SingleFormation * >	formations
	The set of formations.
std::vector< PfVec >	resultVecs
	A list of vectors corresponding to the formations.
std::vector< double >	resultDistances
	A list of distances corresponding to the formations.
BestFitSelection	bestFitSelection
	The selection criterion.

---

Detailed Description

A class representing a formation selection the "best fitting" formation out of a set of SingleFormations.

Definition at line 235 of file FormationObject.h.

---

Constructor & Destructor Documentation

BestFitFormation::BestFitFormation (   )

Constructor. Definition at line 234 of file FormationObject.cpp. Referenced by copy().

BestFitFormation::~BestFitFormation (   )

Destructor. Definition at line 239 of file FormationObject.cpp. References formations.

---

Member Function Documentation

bool BestFitFormation::isActive (   )  const [virtual]

Checks if the formation is active. Returns: true, if the formation is active Reimplemented from SingleFormation. Definition at line 307 of file FormationObject.cpp. References formations.

bool BestFitFormation::isStatic (   )  const [virtual]

Checks if the formation has a static position. Returns: true, if the formation has a static position Reimplemented from SingleFormation. Definition at line 250 of file FormationObject.cpp. References formations.

PfVec BestFitFormation::getPosition (  const PfPose &  robotPose  )  [virtual]

Returns the position of the formation in reference to the robot pose (used for A*-search to a formation). Parameters: robotPose  The robot pose Returns: The position of the formation Reimplemented from SingleFormation. Definition at line 265 of file FormationObject.cpp. References findBestFormation(), and formations.

Here is the call graph for this function:

PfVec BestFitFormation::getVec (  const PfPose &  otherPose  )  [virtual]

Returns the field vector to/from a formation to/from a given pose. Parameters: otherPose  The pose on which the formation affects Returns: The vector Reimplemented from SingleFormation. Definition at line 279 of file FormationObject.cpp. References findBestFormation(), and formations.

Here is the call graph for this function:

double BestFitFormation::getCharge (  const PfPose &  otherPose  )  [virtual]

Returns the field charge of the formation at a given pose. Parameters: otherPose  The pose Returns: The charge of the formation Reimplemented from SingleFormation. Definition at line 293 of file FormationObject.cpp. References findBestFormation(), and formations.

Here is the call graph for this function:

void BestFitFormation::addFormation (  SingleFormation *  formation  )  [inline]

Adds a single formation to the set of formations. Parameters: formation  The formation Definition at line 276 of file FormationObject.h. References formations, resultDistances, and resultVecs. Referenced by copy(), and Parser::parseFormationObject().

void BestFitFormation::setBestFitSelection (  BestFitSelection  bestFitSelection  )  [inline]

Sets the criterion for choosing the best fitting formation. Parameters: bestFitSelection  The selection criterion Definition at line 286 of file FormationObject.h. Referenced by Parser::parseFormationObject().

SingleFormation * BestFitFormation::copy (   )  const [virtual]

Creates a copy of the formation object. Returns: A pointer to a copy Reimplemented from SingleFormation. Definition at line 397 of file FormationObject.cpp. References addFormation(), BestFitFormation(), bestFitSelection, formations, resultDistances, and resultVecs.

Here is the call graph for this function:

virtual void BestFitFormation::updateGeometry (   )  [inline, protected, virtual]

Updates the positions of the formation. Reimplemented from SingleFormation. Definition at line 305 of file FormationObject.h.

int BestFitFormation::findBestFormation (  const PfPose &  otherPose  )  [protected]

Determines the best formation. Parameters: otherPose  The pose to find the bestFormationFor Returns: The index of the best formation, -1 if none exists Definition at line 322 of file FormationObject.cpp. References bestFitSelection, formations, SELECT_MAX_GRADIENT, SELECT_MAX_PRIORITY, SELECT_MIN_DISTANCE, and SELECT_MIN_GRADIENT. Referenced by getCharge(), getPosition(), and getVec().

---

Member Data Documentation

std::vector<SingleFormation*> BestFitFormation::formations [protected]

The set of formations. Definition at line 296 of file FormationObject.h. Referenced by addFormation(), copy(), findBestFormation(), getCharge(), getPosition(), getVec(), isActive(), isStatic(), and ~BestFitFormation().

std::vector<PfVec> BestFitFormation::resultVecs [protected]

A list of vectors corresponding to the formations. Definition at line 298 of file FormationObject.h. Referenced by addFormation(), and copy().

std::vector<double> BestFitFormation::resultDistances [protected]

A list of distances corresponding to the formations. Definition at line 300 of file FormationObject.h. Referenced by addFormation(), and copy().

BestFitSelection BestFitFormation::bestFitSelection [protected]

The selection criterion. Definition at line 302 of file FormationObject.h. Referenced by copy(), and findBestFormation().

---

The documentation for this class was generated from the following files:

• Tools/PotentialFields/FormationObject.h
• Tools/PotentialFields/FormationObject.cpp

---