FormationObject Class Reference

A class representing a formation in a potential field. More...

#include <FormationObject.h>

Inheritance diagram for FormationObject:

[legend]Collaboration diagram for FormationObject:

[legend]List of all members.

Public Member Functions
	FormationObject (const std::string &name)
	Constructor.
virtual	~FormationObject ()
	Destructor.
virtual PfPose	getPose (const PfPose &robotPose)
	Returns the pose of the object in reference to the robot pose (used for getting a pose from formation objects).
virtual PfVec	computeAbsFieldVecAt (const PfPose &otherPose)
	Computes the gradient of the formation at a given pose.
virtual double	computeChargeAt (const PfPose &otherPose)
	Computes the "charge" of the formation at a given pose.
virtual bool	isStatic () const
	Return whether the object is static or not.
virtual bool	isActive () const
	Returns whether the object is active or not.
virtual PfieldGeometricObject *	getGeometry () const
	Returns a pointer to the geometry of the object.
virtual PfieldGeometricObject *	getAbsGeometry () const
	Returns a pointer to the absolute geometry of the object.
virtual void	updateData ()
	Overrides function from Object, does nothing.
virtual Object *	getCopy ()
	Polymorph copy function.
void	addSingleFormation (SingleFormation *formation)
	Adds a new formation to his object.
Protected Attributes
std::vector< SingleFormation * >	singleFormations
	The list of single formations belonging to this object.

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Detailed Description

A class representing a formation in a potential field.

Definition at line 320 of file FormationObject.h.

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Constructor & Destructor Documentation

FormationObject::FormationObject (  const std::string &  name  )

Constructor. Parameters: name  The name of the formation object Definition at line 414 of file FormationObject.cpp. Referenced by getCopy().

FormationObject::~FormationObject (   )  [virtual]

Destructor. Definition at line 420 of file FormationObject.cpp. References singleFormations.

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Member Function Documentation

PfPose FormationObject::getPose (  const PfPose &  robotPose  )  [virtual]

Returns the pose of the object in reference to the robot pose (used for getting a pose from formation objects). Parameters: robotPose  The robot pose Returns: The object pose Reimplemented from Object. Definition at line 432 of file FormationObject.cpp. References PfPose::pos, and singleFormations.

PfVec FormationObject::computeAbsFieldVecAt (  const PfPose &  otherPose  )  [virtual]

Computes the gradient of the formation at a given pose. Parameters: otherPose  The pose Returns: The gradient (= f'(otherPose)) Reimplemented from Object. Definition at line 454 of file FormationObject.cpp. References singleFormations.

double FormationObject::computeChargeAt (  const PfPose &  otherPose  )  [virtual]

Computes the "charge" of the formation at a given pose. Parameters: otherPose  The pose Returns: The charge (= f(otherPose)) Reimplemented from Object. Definition at line 467 of file FormationObject.cpp. References singleFormations.

bool FormationObject::isStatic (   )  const [virtual]

Return whether the object is static or not. Returns: true, if the object is static Reimplemented from Object. Definition at line 480 of file FormationObject.cpp. References singleFormations.

bool FormationObject::isActive (   )  const [virtual]

Returns whether the object is active or not. Returns: true, if active Reimplemented from Object. Definition at line 495 of file FormationObject.cpp. References singleFormations.

virtual PfieldGeometricObject* FormationObject::getGeometry (   )  const [inline, virtual]

Returns a pointer to the geometry of the object. Returns: The geometric description Reimplemented from Object. Definition at line 363 of file FormationObject.h.

virtual PfieldGeometricObject* FormationObject::getAbsGeometry (   )  const [inline, virtual]

Returns a pointer to the absolute geometry of the object. Returns: The geometric description Reimplemented from Object. Definition at line 369 of file FormationObject.h.

virtual void FormationObject::updateData (   )  [inline, virtual]

Overrides function from Object, does nothing. Reimplemented from Object. Definition at line 373 of file FormationObject.h.

Object * FormationObject::getCopy (   )  [virtual]

Polymorph copy function. Returns: A copy of the FormationObject Reimplemented from Object. Definition at line 510 of file FormationObject.cpp. References addSingleFormation(), FormationObject(), and singleFormations.

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void FormationObject::addSingleFormation (  SingleFormation *  formation  )  [inline]

Adds a new formation to his object. Parameters: formation  The formation Definition at line 383 of file FormationObject.h. References singleFormations. Referenced by getCopy(), and Parser::parseFormationObject().

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Member Data Documentation

std::vector< SingleFormation* > FormationObject::singleFormations [protected]

The list of single formations belonging to this object. Definition at line 388 of file FormationObject.h. Referenced by addSingleFormation(), computeAbsFieldVecAt(), computeChargeAt(), getCopy(), getPose(), isActive(), isStatic(), and ~FormationObject().

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

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

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