FutureWorldModelGenerator Class Reference

A class for computing a world model after excuting a specific action. More...

#include <FutureWorldModelGenerator.h>

List of all members.

Public Member Functions
void	transformWorldState (const PfPose &poseNow, PfPose &poseThen, Action &action, Actionfield *callingField, std::vector< Object * > &worldStateNow, std::vector< Object * > &worldStateThen, std::vector< Object * > &worldStateStatic)
	Transforms the world state by applying an action.
Static Public Member Functions
FutureWorldModelGenerator *	getFutureWorldModelGenerator ()
	Returns a pointer to the class (which is a singleton).
Private Member Functions
	FutureWorldModelGenerator ()
	Constructor.
void	executeSingleTransformation (PfPose &pose, Action &action, PotentialfieldTransformation *transformation, Actionfield *callingField, std::vector< Object * > &dynamicWorldState, std::vector< Object * > &staticWorldState)
	Executes a transformation.
double	getMaxTranslationForObject (const PfPose &objectPose, const PfVec &translation, std::vector< Object * > &otherObjects, std::vector< Object * > &otherStaticObjects, int excludedObject=-1)
	Checks a planned transformation for collisions.
double	getMaxRotationForObject (const PfPose &objectPose, const PfPose &rotationPose, double rotation, std::vector< Object * > &otherObjects, std::vector< Object * > &otherStaticObjects, int excludedObject=-1)
	Checks a planned rotation for collisions.

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Detailed Description

A class for computing a world model after excuting a specific action.

Definition at line 32 of file FutureWorldModelGenerator.h.

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Constructor & Destructor Documentation

FutureWorldModelGenerator::FutureWorldModelGenerator (   )  [inline, private]

Constructor. Definition at line 36 of file FutureWorldModelGenerator.h.

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Member Function Documentation

FutureWorldModelGenerator* FutureWorldModelGenerator::getFutureWorldModelGenerator (   )  [inline, static]

Returns a pointer to the class (which is a singleton). Returns: The pointer Definition at line 42 of file FutureWorldModelGenerator.h. Referenced by Actionfield::Actionfield().

void FutureWorldModelGenerator::transformWorldState (  const PfPose &  poseNow, PfPose &  poseThen, Action &  action, Actionfield *  callingField, std::vector< Object * > &  worldStateNow, std::vector< Object * > &  worldStateThen, std::vector< Object * > &  worldStateStatic )

Transforms the world state by applying an action. Parameters: poseNow  The original pose poseThen  The pose after the action action  The action callingField  The potential field calling this function worldStateNow  The state of all objects before the action worldStateThen  The state of all objects after the action worldStateStatic  All static objects (never move, cannot be moved) Definition at line 19 of file FutureWorldModelGenerator.cpp. References Action::actionType, executeSingleTransformation(), PfPose::hasProbabilityDistribution, Action::joinAction, MEASURE_OBJECT, MEASURE_SELF, MOVE_OBJECT, MOVE_SELF, Action::objectIdx, PfPose::probabilityDistribution, PfPose::setPoseFromSamples(), Action::time, and Action::transformations. Referenced by Actionfield::execute(), and Actionfield::findBestSequence().

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void FutureWorldModelGenerator::executeSingleTransformation (  PfPose &  pose, Action &  action, PotentialfieldTransformation *  transformation, Actionfield *  callingField, std::vector< Object * > &  dynamicWorldState, std::vector< Object * > &  staticWorldState )  [private]

Executes a transformation. Parameters: pose  The robot pose (may be changed by this function) action  The action to which the transformation is assigned transformation  The transformation to be executed callingField  The potential field using this class dynamicWorldState  All dynamic objects (may be changed by this function) staticWorldState  All static objects Definition at line 110 of file FutureWorldModelGenerator.cpp. References Action::actionType, PfPose::addAbsVector(), Translation::alongGradient, Rotation::angle, Action::canBeApplied(), PfVec::distanceTo(), PfVec::getAngle(), Actionfield::getFutureFieldVecAt(), getMaxRotationForObject(), getMaxTranslationForObject(), Object::getPose(), PotentialfieldTransformation::getType(), PfPose::hasProbabilityDistribution, Action::joinAction, PfVec::length(), Translation::maxGradientDeviation, Translation::maxLength, Action::motionParameters, MOVE_OBJECT, PfVec::normalize(), PfPose::normRotation(), Action::objectIdx, PfPose::pos, PfPose::probabilityDistribution, PfVec::rotate(), PfPose::rotateAround(), ROTATION, PfPose::rotation, Rotation::speed, Translation::speed, Translation::stepLength, PotentialfieldTransformation::time, Rotation::toGradient, Rotation::toObject, Translation::toObject, TransformationType, Translation::translation, TRANSLATION, PfVec::x, and PfVec::y. Referenced by transformWorldState().

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double FutureWorldModelGenerator::getMaxTranslationForObject (  const PfPose &  objectPose, const PfVec &  translation, std::vector< Object * > &  otherObjects, std::vector< Object * > &  otherStaticObjects, int  excludedObject = -1 )  [private]

Checks a planned transformation for collisions. Parameters: objectPose  The pose of the object to be transformed translation  The planned translation otherObjects  All dynamic objects otherStaticObjects  All static objects excludedObject  The index (in otherObjects) of the object to be checked Returns: A value [0.0 .. 1.0] indicated "how much" of the translation may be executed Definition at line 326 of file FutureWorldModelGenerator.cpp. References intersectGeometricObjects(), PfVec::length(), Line::p1, Line::p2, PfPose::pos, PfieldGeometricObject::position, and PfieldGeometricObject::radiusOfCollisionCircle. Referenced by executeSingleTransformation().

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double FutureWorldModelGenerator::getMaxRotationForObject (  const PfPose &  objectPose, const PfPose &  rotationPose, double  rotation, std::vector< Object * > &  otherObjects, std::vector< Object * > &  otherStaticObjects, int  excludedObject = -1 )  [private]

Checks a planned rotation for collisions. Parameters: objectPose  The pose of the object to be transformed rotationPose  The position to rotate around also including the current rotation rotation  The planned rotation otherObjects  All dynamic objects otherStaticObjects  All static objects excludedObject  The index (in otherObjects) of the object to be checked Returns: A value [0.0 .. 1.0] indicated "how much" of the translation may be executed Definition at line 394 of file FutureWorldModelGenerator.cpp. References EPSILON, PfPose::getAngleTo(), Circle::initRadiusOfCollisionCircle(), intersectGeometricObjects(), PfPose::normRotation(), Sector::openingAngle, point, Sector::pointInside(), PfPose::pos, PfieldGeometricObject::position, Circle::radius, and PfPose::rotation. Referenced by executeSingleTransformation().

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

• Tools/PotentialFields/FutureWorldModelGenerator.h
• Tools/PotentialFields/FutureWorldModelGenerator.cpp

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