StraightLine Class Reference

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

#include <straightline.h>

Inheritance diagram for StraightLine:

[legend]Collaboration diagram for StraightLine:


Public Member Functions
	StraightLine (const Position &p, const double &angle)
	Constructor.
	StraightLine (const Matrix &pose)
	Constructor.
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();
virtual bool	isInside (const Position &p)
	returns true if the real coordinates lay inside of the segment
virtual double	getSectionIdValue (const Position &p)
	returns a value between 0 and length that tells at which section you are on the segment.
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.
virtual double	getLength ()
	returns the length of the segment, here it is the length of the arc formula is: radius * angle;
virtual double	getWidth ()
	returns the width of the segment,
virtual void	setWidth (double w)
	sets the width of the segment,
virtual void	draw ()
	draws the obstacle (4 boxes for the playground)
virtual void	create (dSpaceID space)
virtual void	destroy ()
Protected Member Functions
void	setProperties ()
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

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 ( ) [inline, virtual]

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();

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 )