Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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StraightLine Class Reference

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

#include <straightline.h>

Inheritance diagram for StraightLine:
Collaboration diagram for StraightLine:

Public Member Functions

 StraightLine (const Position &p, const double &angle)
 Constructor. More...
 
 StraightLine (const Matrix &pose)
 Constructor. More...
 
virtual ~StraightLine ()
 
void setCurveAngle (double alpha)
 
virtual Matrix getTransformedEndMatrix ()
 gives the position and rotation(angle) of the segment at the end of the segment so that a new segment could be placed there if you want to place the new segment, you must muliplicate: getTransformedEndMatrix()*getPositionMatrix(); More...
 
virtual bool isInside (const Position &p)
 returns true if the real coordinates lay inside of the segment More...
 
virtual double getSectionIdValue (const Position &p)
 returns a value between 0 and length that tells at which section you are on the segment. More...
 
virtual double getWidthIdValue (const Position &p)
 returns a value between 0 and width that tells at which width you are on the segment, more to right or more to the left. More...
 
virtual double getLength ()
 returns the length of the segment, here it is the length of the arc formula is: radius * angle; More...
 
virtual double getWidth ()
 returns the width of the segment, More...
 
virtual void setWidth (double w)
 sets the width of the segment, More...
 
virtual void draw ()
 draws the obstacle (4 boxes for the playground) More...
 
virtual void create (dSpaceID space)
 
virtual void destroy ()
 
- Public Member Functions inherited from AbstractTrackSection
 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 ()
 
Matrix getPoseMatrix ()
 
Position transformToLocalCoord (const Position &p)
 
Position transformToGlobalCoord (const Position &p)
 
Matrix getInversePoseMatrix ()
 

Protected Member Functions

void setProperties ()
 
- Protected Member Functions inherited from AbstractTrackSection
void setPoseMatrix (const Matrix &m)
 
Position getPosition ()
 gives actual position of the obstacle More...
 

Protected Attributes

double length
 
double width
 
dGeomID wallLeft
 
dGeomID wallRight
 
double widthWall
 
double heightWall
 
double angle
 
double isLeft
 
bool obstacle_exists
 
Color color
 obstacle color More...
 

Detailed Description

Abstract class (interface) for obstacles.

Constructor & Destructor Documentation

StraightLine ( const Position p,
const double &  angle 
)

Constructor.

StraightLine ( const Matrix pose)

Constructor.

virtual ~StraightLine ( )
inlinevirtual

Member Function Documentation

void create ( dSpaceID  space)
virtual

Implements AbstractTrackSection.

void destroy ( )
virtual

Implements AbstractTrackSection.

void draw ( )
virtual

draws the obstacle (4 boxes for the playground)

Implements AbstractTrackSection.

double getLength ( )
virtual

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

Implements AbstractTrackSection.

double getSectionIdValue ( const Position p)
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

Implements AbstractTrackSection.

Matrix getTransformedEndMatrix ( )
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 if you want to place the new segment, you must muliplicate: getTransformedEndMatrix()*getPositionMatrix();

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

Implements AbstractTrackSection.

double getWidth ( )
virtual

returns the width of the segment,

Implements AbstractTrackSection.

double getWidthIdValue ( const Position p)
virtual

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

returns -1 if no WidthValue can be given

Implements AbstractTrackSection.

bool isInside ( const Position p)
virtual

returns true if the real coordinates lay inside of the segment

Implements AbstractTrackSection.

void setCurveAngle ( double  alpha)
void setProperties ( )
protected
void setWidth ( double  w)
virtual

sets the width of the segment,

Implements AbstractTrackSection.

Member Data Documentation

double angle
protected
Color color
protected

obstacle color

double heightWall
protected
double isLeft
protected
double length
protected
bool obstacle_exists
protected
dGeomID wallLeft
protected
dGeomID wallRight
protected
double width
protected
double widthWall
protected

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