PfPose Class Reference

A class to describe the pose of an object in a potential field. More...

#include <PfieldDatatypes.h>

Collaboration diagram for PfPose:

[legend]List of all members.

Public Member Functions
	PfPose ()
	Constructor.
	~PfPose ()
	Destructor.
	PfPose (const PfPose &p)
	Copy-Constructor.
void	init ()
	Resets all values.
PfVec	getRelativeVectorTo (const PfVec &p) const
	Computes a relative vector to a position.
double	getAngleTo (const PfVec &p) const
	Computes the relative angle to a position.
void	addVector (const PfVec &vec)
	Adds a vector to the pose.
void	addAbsVector (const PfVec &vec)
	Adds a vector to the pose not considering the rotation.
void	rotateAround (const PfVec &position, double angle)
	Rotates the pose around a position.
void	operator= (const PfPose &p)
	Copies data from another pose.
void	normRotation ()
	Norms the rotation to the interval [-pi,..,pi].
void	setPoseFromSamples ()
	Sets the pose from the sample with the highest probability.
Public Attributes
PfVec	pos
	The position of the pose.
double	rotation
	The rotation of the pose.
double	speed
	The current speed.
double	probability
	The probability of the pose.
bool	hasProbabilityDistribution
	Flag: true, if this pose consists of several poses.
std::vector< PfPose >	probabilityDistribution
	A set of poses.

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Detailed Description

A class to describe the pose of an object in a potential field.

Definition at line 202 of file PfieldDatatypes.h.

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Constructor & Destructor Documentation

PfPose::PfPose (   )  [inline]

Constructor. Definition at line 219 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, PfVec::x, and PfVec::y.

PfPose::~PfPose (   )  [inline]

Destructor. Definition at line 230 of file PfieldDatatypes.h. References probabilityDistribution.

PfPose::PfPose (  const PfPose &  p  )  [inline]

Copy-Constructor. Parameters: p  Another pose Definition at line 238 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, probability, probabilityDistribution, rotation, and speed.

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Member Function Documentation

void PfPose::init (   )  [inline]

Resets all values. Definition at line 256 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, probabilityDistribution, PfVec::x, and PfVec::y.

PfVec PfPose::getRelativeVectorTo (  const PfVec &  p  )  const [inline]

Computes a relative vector to a position. Parameters: p  The position Returns: The vector Definition at line 271 of file PfieldDatatypes.h. References pos, and PfVec::rotate().

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double PfPose::getAngleTo (  const PfVec &  p  )  const [inline]

Computes the relative angle to a position. Parameters: p  The position Returns: The angle Definition at line 282 of file PfieldDatatypes.h. References PfVec::getAngle(), pos, and PfVec::rotate(). Referenced by computeChargeForSectorfield(), computeGradientForSectorfield(), PotentialfieldAStarNode::computeHeuristicBetween(), PotentialfieldAStarNode::expand(), FutureWorldModelGenerator::getMaxRotationForObject(), and Sector::pointInside().

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void PfPose::addVector (  const PfVec &  vec  )  [inline]

Adds a vector to the pose. Parameters: vec  The vector Definition at line 292 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, probabilityDistribution, and PfVec::rotate(). Referenced by PotentialfieldAStarNode::expand().

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void PfPose::addAbsVector (  const PfVec &  vec  )  [inline]

Adds a vector to the pose not considering the rotation. Parameters: vec  The vector Definition at line 307 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, and probabilityDistribution. Referenced by FutureWorldModelGenerator::executeSingleTransformation(), and Motionfield::pathPlanningStillNeeded().

void PfPose::rotateAround (  const PfVec &  position, double  angle )  [inline]

Rotates the pose around a position. Parameters: position  The position to rotate around angle  The angle to rotate Definition at line 321 of file PfieldDatatypes.h. References hasProbabilityDistribution, normRotation(), pos, probabilityDistribution, and PfVec::rotate(). Referenced by FutureWorldModelGenerator::executeSingleTransformation().

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void PfPose::operator= (  const PfPose &  p  )  [inline]

Copies data from another pose. Parameters: p  The pose Definition at line 340 of file PfieldDatatypes.h. References hasProbabilityDistribution, pos, probability, probabilityDistribution, rotation, and speed.

void PfPose::normRotation (   )  [inline]

Norms the rotation to the interval [-pi,..,pi]. Definition at line 360 of file PfieldDatatypes.h. References pi, and pi2. Referenced by PotentialfieldComposition::execute(), FutureWorldModelGenerator::executeSingleTransformation(), FutureWorldModelGenerator::getMaxRotationForObject(), and rotateAround().

void PfPose::setPoseFromSamples (   )  [inline]

Sets the pose from the sample with the highest probability. Definition at line 374 of file PfieldDatatypes.h. References pos, and probabilityDistribution. Referenced by FutureWorldModelGenerator::transformWorldState().

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Member Data Documentation

PfVec PfPose::pos

The position of the pose. Definition at line 206 of file PfieldDatatypes.h. Referenced by addAbsVector(), addVector(), computeChargeForPointfield(), computeChargeForSectorfield(), computeChargeForShapefield(), PotentialfieldAStarNode::computeCurrentParameters(), computeGradientForPointfield(), computeGradientForSectorfield(), computeGradientForShapefield(), PotentialfieldAStarNode::computeHeuristicBetween(), NoGeometry::distanceTo(), Polygon::distanceTo(), Line::distanceTo(), Circle::distanceTo(), PotentialfieldAStarNode::distToOtherNode(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::draw(), PotentialfieldComposition::execute(), Motionfield::execute(), GTStandardConverter::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), FutureWorldModelGenerator::executeSingleTransformation(), PotentialfieldAStarNode::expand(), NoGeometry::getAbs(), Polygon::getAbs(), Line::getAbs(), Circle::getAbs(), getAngleTo(), SingleFormation::getCharge(), Potentialfield::getDirectionArray(), SingleFormation::getDistanceToFormation(), Motionfield::getFieldVecFromAStarSearch(), FutureWorldModelGenerator::getMaxRotationForObject(), FutureWorldModelGenerator::getMaxTranslationForObject(), FormationObject::getPose(), SingleFormation::getPosition(), getRelativeVectorTo(), Potentialfield::getValueArray(), SingleFormation::getVec(), PotentialfieldAStarNode::hasReached(), init(), operator=(), Parser::parseInstance(), Motionfield::pathPlanningStillNeeded(), PfPose(), Action::poseInsideImpactArea(), rotateAround(), NoGeometry::setAbsoluteFromOther(), Polygon::setAbsoluteFromOther(), Line::setAbsoluteFromOther(), Circle::setAbsoluteFromOther(), GTStandardConverter::setData(), setPoseFromSamples(), PotentialfieldAStarNode::tooCloseToAnotherNode(), and RelativeFormation::updateGeometry().

double PfPose::rotation

The rotation of the pose. Definition at line 208 of file PfieldDatatypes.h. Referenced by computeGradientForSectorfield(), Polygon::distanceTo(), Line::distanceTo(), PotentialfieldComposition::execute(), Motionfield::execute(), GTStandardConverter::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), FutureWorldModelGenerator::executeSingleTransformation(), Polygon::getAbs(), Line::getAbs(), Motionfield::getFieldVecFromAStarSearch(), FutureWorldModelGenerator::getMaxRotationForObject(), operator=(), Parser::parseInstance(), PfPose(), Action::poseInsideImpactArea(), Polygon::setAbsoluteFromOther(), Line::setAbsoluteFromOther(), GTStandardConverter::setData(), and RelativeFormation::updateGeometry().

double PfPose::speed

The current speed. Definition at line 210 of file PfieldDatatypes.h. Referenced by Motionfield::execute(), Actionfield::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), operator=(), and PfPose().

double PfPose::probability

The probability of the pose. Definition at line 212 of file PfieldDatatypes.h. Referenced by Object::computeAbsFieldVecAt(), Object::computeChargeAt(), GTStandardConverter::execute(), operator=(), PfPose(), and GTStandardConverter::setData().

bool PfPose::hasProbabilityDistribution

Flag: true, if this pose consists of several poses. Definition at line 214 of file PfieldDatatypes.h. Referenced by addAbsVector(), addVector(), Action::canBeApplied(), Object::computeAbsFieldVecAt(), Object::computeChargeAt(), FutureWorldModelGenerator::executeSingleTransformation(), Motionfield::getFieldVecFromAStarSearch(), init(), operator=(), PfPose(), rotateAround(), and FutureWorldModelGenerator::transformWorldState().

std::vector<PfPose> PfPose::probabilityDistribution

A set of poses. Definition at line 216 of file PfieldDatatypes.h. Referenced by addAbsVector(), addVector(), Action::canBeApplied(), Object::computeAbsFieldVecAt(), Object::computeChargeAt(), FutureWorldModelGenerator::executeSingleTransformation(), Motionfield::getFieldVecFromAStarSearch(), init(), operator=(), PfPose(), rotateAround(), setPoseFromSamples(), FutureWorldModelGenerator::transformWorldState(), and ~PfPose().

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

• Tools/PotentialFields/PfieldDatatypes.h

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