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

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

• straightline.h
• straightline.cpp