Line Class Reference

A class representing a line. More...

#include <PfieldGeometry.h>

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[legend]List of all members.

Public Member Functions
GeometryType	getType () const
	Returns the type of a geometric object.
PfieldGeometricObject *	clone () const
	Clones a line.
double	distanceTo (const PfPose &base, const PfVec &pos, PfVec &contact) const
	Computes the distance from the border of the object to a given point.
virtual void	initRadiusOfCollisionCircle ()
	Computes value of the radiusOfCollisionCircle variable.
PfieldGeometricObject *	getAbs (const PfPose &base) const
	Returns a geometric object with absolute coordinates.
void	setAbsoluteFromOther (const PfPose &base, PfieldGeometricObject *other)
	Computes absolute coordinates from a base pose and another, relative polygon.
virtual void	getPoints (std::vector< PfVec > &points)
	Returns all points of the object.
Public Attributes
PfVec	p1
	One end point of the line.
PfVec	p2
	The other end point of the line.

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Detailed Description

A class representing a line.

Definition at line 234 of file PfieldGeometry.h.

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Member Function Documentation

GeometryType Line::getType (   )  const [inline, virtual]

Returns the type of a geometric object. Returns: The type Implements PfieldGeometricObject. Definition at line 245 of file PfieldGeometry.h. References GeometryType, and LINE.

PfieldGeometricObject * Line::clone (   )  const [virtual]

Clones a line. Returns: A pointer to a copy of the object Implements PfieldGeometricObject. Definition at line 452 of file PfieldGeometry.cpp. References PfieldGeometricObject::intersectable, Line, p1, p2, PfieldGeometricObject::position, and PfieldGeometricObject::radiusOfCollisionCircle. Referenced by getAbs().

double Line::distanceTo (  const PfPose &  base, const PfVec &  pos, PfVec &  contact )  const [virtual]

Computes the distance from the border of the object to a given point. Parameters: base  The pose of the object to which the geometric object is assigned pos  The tested point contact  Returns the next position of the geometric object to the point Returns: The distance Implements PfieldGeometricObject. Definition at line 391 of file PfieldGeometry.cpp. References PfVec::distanceTo(), p1, p2, pointPerpendicularToLine(), PfPose::pos, PfVec::rotate(), and PfPose::rotation.

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void Line::initRadiusOfCollisionCircle (   )  [virtual]

Computes value of the radiusOfCollisionCircle variable. Implements PfieldGeometricObject. Definition at line 421 of file PfieldGeometry.cpp. References p1, and p2. Referenced by Parser::parseGeometricObject().

PfieldGeometricObject * Line::getAbs (  const PfPose &  base  )  const [virtual]

Returns a geometric object with absolute coordinates. Parameters: base  The pose of the object Returns: A pointer to a new geometric object Implements PfieldGeometricObject. Definition at line 440 of file PfieldGeometry.cpp. References clone(), p1, p2, PfPose::pos, PfVec::rotate(), and PfPose::rotation.

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void Line::setAbsoluteFromOther (  const PfPose &  base, PfieldGeometricObject *  other )  [virtual]

Computes absolute coordinates from a base pose and another, relative polygon. Use careful! The other object has to be the same type and the size! Only positions are changed, other members will be ignored! Parameters: base  The new absolute position other  A relative geometric object Implements PfieldGeometricObject. Definition at line 427 of file PfieldGeometry.cpp. References p1, p2, PfPose::pos, PfVec::rotate(), and PfPose::rotation.

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void Line::getPoints (  std::vector< PfVec > &  points  )  [virtual]

Returns all points of the object. Parameters: points  The list of points to which the object's points will be attached Reimplemented from PfieldGeometricObject. Definition at line 465 of file PfieldGeometry.cpp. References p1, and p2.

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Member Data Documentation

PfVec Line::p1

One end point of the line. Definition at line 238 of file PfieldGeometry.h. Referenced by clone(), distanceTo(), getAbs(), FutureWorldModelGenerator::getMaxTranslationForObject(), getPoints(), initRadiusOfCollisionCircle(), intersectLineAndCircle(), intersectLineAndLine(), intersectLineAndPolygon(), intersectPolygonAndCircle(), Parser::parseGeometricObject(), setAbsoluteFromOther(), testIntersection(), and RelativeFormation::updateGeometry().

PfVec Line::p2

The other end point of the line. Definition at line 240 of file PfieldGeometry.h. Referenced by clone(), distanceTo(), getAbs(), FutureWorldModelGenerator::getMaxTranslationForObject(), getPoints(), initRadiusOfCollisionCircle(), intersectLineAndCircle(), intersectLineAndLine(), intersectLineAndPolygon(), intersectPolygonAndCircle(), Parser::parseGeometricObject(), setAbsoluteFromOther(), testIntersection(), and RelativeFormation::updateGeometry().

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

• Tools/PotentialFields/PfieldGeometry.h
• Tools/PotentialFields/PfieldGeometry.cpp

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