Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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AbstractTrackSection Class Referenceabstract

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

#include <abstracttracksection.h>

Inheritance diagram for AbstractTrackSection:

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...
 

Detailed Description

Abstract class (interface) for obstacles.

Constructor & Destructor Documentation

AbstractTrackSection ( const Position p,
const double  angle 
)
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:

Parameters
pis the position of the segment
angleis the rotation of the segment
AbstractTrackSection ( const Matrix pose)
inline

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

Parameters
positionis the position AND rotation of the segment
virtual ~AbstractTrackSection ( )
inlinevirtual

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 StraightLine, and DegreeSegment.

Matrix getPoseMatrix ( )
inline
Position getPosition ( )
inlineprotected

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 StraightLine, and DegreeSegment.

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)
inlineprotected
virtual void setWidth ( double  w)
pure virtual

sets the width of the segment,

Implemented in StraightLine, and DegreeSegment.

Position transformToGlobalCoord ( const Position p)
inline
Position transformToLocalCoord ( const Position p)
inline

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