PfieldGeometricObject Class Reference

Abstract base class for geometric objects used by potentialfields. More...

#include <PfieldGeometry.h>

Inheritance diagram for PfieldGeometricObject:

[legend]Collaboration diagram for PfieldGeometricObject:

[legend]List of all members.

Public Member Functions
virtual	~PfieldGeometricObject ()
	Virtual destructor.
virtual GeometryType	getType () const=0
	Returns the type of a geometric object.
virtual PfieldGeometricObject *	clone () const=0
	Clones a geometric object.
virtual double	distanceTo (const PfPose &base, const PfVec &pos, PfVec &contact) const=0
	Computes the distance from the border of the object to a given point.
virtual void	initRadiusOfCollisionCircle ()=0
	Computes value of the radiusOfCollisionCircle variable.
double	getRadiusOfCollisionCircle () const
	Returns the value of radiusOfCollisionCircle.
PfVec	getPosition () const
	Returns the position.
virtual PfieldGeometricObject *	getAbs (const PfPose &base) const=0
	Returns a geometric object with absolute coordinates.
virtual void	getPoints (std::vector< PfVec > &points)
	Returns all points of the object.
virtual void	setAbsoluteFromOther (const PfPose &base, PfieldGeometricObject *other)=0
	Computes absolute coordinates from a base pose and another, relative polygon.
Public Attributes
double	radiusOfCollisionCircle
	The radius of a circle around the whole object.
bool	intersectable
	Flag, true if object is intersectable by other objects.
PfVec	position
	The position of the object, only used with absolute positions.

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Detailed Description

Abstract base class for geometric objects used by potentialfields.

Definition at line 96 of file PfieldGeometry.h.

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Constructor & Destructor Documentation

virtual PfieldGeometricObject::~PfieldGeometricObject (   )  [inline, virtual]

Virtual destructor. Definition at line 107 of file PfieldGeometry.h.

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Member Function Documentation

virtual GeometryType PfieldGeometricObject::getType (   )  const [pure virtual]

Returns the type of a geometric object. Returns: The type Implemented in Polygon, Line, Circle, and NoGeometry. Referenced by intersectGeometricObjects().

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

Clones a geometric object. Returns: A pointer to a copy of the object Implemented in Polygon, Line, Circle, and NoGeometry. Referenced by Object::setGeometry().

virtual double PfieldGeometricObject::distanceTo (  const PfPose &  base, const PfVec &  pos, PfVec &  contact )  const [pure 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 Implemented in Polygon, Line, Circle, and NoGeometry. Referenced by computeChargeForShapefield(), computeGradientForShapefield(), and SingleFormation::getDistanceToFormation().

virtual void PfieldGeometricObject::initRadiusOfCollisionCircle (   )  [pure virtual]

Computes value of the radiusOfCollisionCircle variable. Implemented in Polygon, Line, Circle, and NoGeometry.

double PfieldGeometricObject::getRadiusOfCollisionCircle (   )  const [inline]

Returns the value of radiusOfCollisionCircle. Returns: The radius Definition at line 133 of file PfieldGeometry.h. References radiusOfCollisionCircle.

PfVec PfieldGeometricObject::getPosition (   )  const [inline]

Returns the position. Returns: The position Definition at line 139 of file PfieldGeometry.h.

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

Returns a geometric object with absolute coordinates. Parameters: base  The pose of the object Returns: A pointer to a new geometric object Implemented in Polygon, Line, Circle, and NoGeometry. Referenced by Object::setGeometry().

virtual void PfieldGeometricObject::getPoints (  std::vector< PfVec > &  points  )  [inline, virtual]

Returns all points of the object. Parameters: points  The list of points to which the object's points will be attached Reimplemented in Polygon, Line, and Circle. Definition at line 151 of file PfieldGeometry.h.

virtual void PfieldGeometricObject::setAbsoluteFromOther (  const PfPose &  base, PfieldGeometricObject *  other )  [pure 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 Implemented in Polygon, Line, Circle, and NoGeometry. Referenced by Object::computeAbsGeometry(), and Object::setPose().

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Member Data Documentation

double PfieldGeometricObject::radiusOfCollisionCircle

The radius of a circle around the whole object. Definition at line 100 of file PfieldGeometry.h. Referenced by NoGeometry::clone(), Polygon::clone(), Line::clone(), Circle::clone(), FutureWorldModelGenerator::getMaxTranslationForObject(), getRadiusOfCollisionCircle(), intersectGeometricObjects(), and intersectLineAndCircle().

bool PfieldGeometricObject::intersectable

Flag, true if object is intersectable by other objects. Definition at line 102 of file PfieldGeometry.h. Referenced by NoGeometry::clone(), Polygon::clone(), Line::clone(), Circle::clone(), intersectGeometricObjects(), and Parser::parseGeometricObject().

PfVec PfieldGeometricObject::position

The position of the object, only used with absolute positions. Definition at line 104 of file PfieldGeometry.h. Referenced by NoGeometry::clone(), Polygon::clone(), Line::clone(), Circle::clone(), NoGeometry::getAbs(), Circle::getAbs(), FutureWorldModelGenerator::getMaxRotationForObject(), FutureWorldModelGenerator::getMaxTranslationForObject(), intersectCircleAndCircle(), intersectGeometricObjects(), and intersectLineAndCircle().

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

• Tools/PotentialFields/PfieldGeometry.h

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