AbstractTrackSection Class Reference

Abstract class (interface) for obstacles. More...

#include <abstracttracksection.h>

Inherited by DegreeSegment, and StraightLine.

Inheritance diagram for AbstractTrackSection:

Inheritance graph
[legend]
List of all members.

Public Member Functions

 AbstractTrackSection (const Position &p, const double angle)
 Constructor where you can set the position and rotation by:.
 AbstractTrackSection (const Matrix &pose)
 Constructor where you can set the pos-matrix by this constructor:.
virtual ~AbstractTrackSection ()
virtual void create (dSpaceID space)=0
virtual void destroy ()=0
virtual void draw ()=0
virtual Matrix getTransformedEndMatrix ()=0
 gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there the result is a matrix
virtual bool isInside (const Position &p)=0
 returns true if the real coordinates lay inside of the segment
virtual double getSectionIdValue (const Position &p)=0
 returns a value between 0 and length that tells at which section you are on the segment.
virtual double getWidthIdValue (const Position &p)=0
 returns a value between 0 and width that tells at which width you are on the segment, 0 means right and width means left.
virtual double getLength ()=0
 returns the length of the segment, here it is the length of the arc formula is: radius * angle;
virtual double getWidth ()=0
 returns the width of the segment,
virtual void setWidth (double w)=0
 sets the width of the segment,
Matrix getPoseMatrix ()
Position transformToLocalCoord (const Position &p)
Position transformToGlobalCoord (const Position &p)
Matrix getInversePoseMatrix ()

Protected Member Functions

void setPoseMatrix (const Matrix &m)
Position getPosition ()
 gives actual position of the obstacle

Private Attributes

Matrix pos
Matrix invpos

Detailed Description

Abstract class (interface) for obstacles.


Constructor & Destructor Documentation

AbstractTrackSection const Position p,
const double  angle
[inline]
 

Constructor where you can set the position and rotation by:.

Parameters:
Position& p is the position of the segment
double angle is the rotation of the segment

AbstractTrackSection const Matrix pose  )  [inline]
 

Constructor where you can set the pos-matrix by this constructor:.

Parameters:
Matrix& position is the position AND rotation of the segment

virtual ~AbstractTrackSection  )  [inline, virtual]
 


Member Function Documentation

virtual void create dSpaceID  space  )  [pure virtual]
 

Implemented in DegreeSegment, and StraightLine.

virtual void destroy  )  [pure virtual]
 

Implemented in DegreeSegment, and StraightLine.

virtual void draw  )  [pure virtual]
 

Implemented in DegreeSegment, and StraightLine.

Matrix getInversePoseMatrix  )  [inline]
 

virtual double getLength  )  [pure virtual]
 

returns the length of the segment, here it is the length of the arc formula is: radius * angle;

Implemented in DegreeSegment, and StraightLine.

Matrix getPoseMatrix  )  [inline]
 

Position getPosition  )  [inline, protected]
 

gives actual position of the obstacle

virtual double getSectionIdValue const Position p  )  [pure virtual]
 

returns a value between 0 and length that tells at which section you are on the segment.

returns -1 if no IdValue can be given

Implemented in DegreeSegment, and StraightLine.

virtual Matrix getTransformedEndMatrix  )  [pure virtual]
 

gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there the result is a matrix

Implemented in DegreeSegment, and StraightLine.

virtual double getWidth  )  [pure virtual]
 

returns the width of the segment,

Implemented in DegreeSegment, and StraightLine.

virtual double getWidthIdValue const Position p  )  [pure virtual]
 

returns a value between 0 and width that tells at which width you are on the segment, 0 means right and width means left.

returns -1 if no WidthValue can be given

Implemented in DegreeSegment, and StraightLine.

virtual bool isInside const Position p  )  [pure virtual]
 

returns true if the real coordinates lay inside of the segment

Implemented in DegreeSegment, and StraightLine.

void setPoseMatrix const Matrix m  )  [inline, protected]
 

virtual void setWidth double  w  )  [pure virtual]
 

sets the width of the segment,

Implemented in DegreeSegment, and StraightLine.

Position transformToGlobalCoord const Position p  )  [inline]
 

Position transformToLocalCoord const Position p  )  [inline]
 


Member Data Documentation

Matrix invpos [private]
 

Matrix pos [private]
 


The documentation for this class was generated from the following file:
Generated on Tue Jan 16 02:14:45 2007 for Robotsystem of the Robot Group Leipzig by doxygen 1.3.8