Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Abstract class (interface) for obstacles. More...
#include <abstracttracksection.h>
Public Member Functions | |
AbstractTrackSection (const Position &p, const double angle) | |
Constructor, segment is initialized with Position (0,0,0) and a rotation angle=0. More... | |
AbstractTrackSection (const Matrix &pose) | |
Constructor where you can set the pos-matrix by this constructor: More... | |
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 More... | |
virtual bool | isInside (const Position &p)=0 |
returns true if the real coordinates lay inside of the segment More... | |
virtual double | getSectionIdValue (const Position &p)=0 |
returns a value between 0 and length that tells at which section you are on the segment. More... | |
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. More... | |
virtual double | getLength ()=0 |
returns the length of the segment, here it is the length of the arc formula is: radius * angle; More... | |
virtual double | getWidth ()=0 |
returns the width of the segment, More... | |
virtual void | setWidth (double w)=0 |
sets the width of the segment, More... | |
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 More... | |
Abstract class (interface) for obstacles.
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inline |
Constructor, segment is initialized with Position (0,0,0) and a rotation angle=0.
Constructor where you can set the position and rotation by:
p | is the position of the segment |
angle | is the rotation of the segment |
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inline |
Constructor where you can set the pos-matrix by this constructor:
position | is the position AND rotation of the segment |
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inlinevirtual |
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pure virtual |
Implemented in DegreeSegment, and StraightLine.
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pure virtual |
Implemented in DegreeSegment, and StraightLine.
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pure virtual |
Implemented in DegreeSegment, and StraightLine.
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inline |
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pure virtual |
returns the length of the segment, here it is the length of the arc formula is: radius * angle;
Implemented in StraightLine, and DegreeSegment.
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inline |
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inlineprotected |
gives actual position of the obstacle
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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.
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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.
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pure virtual |
returns the width of the segment,
Implemented in StraightLine, and DegreeSegment.
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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.
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pure virtual |
returns true if the real coordinates lay inside of the segment
Implemented in DegreeSegment, and StraightLine.
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inlineprotected |
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pure virtual |
sets the width of the segment,
Implemented in StraightLine, and DegreeSegment.